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| Author(s): |
Wilian Miranda dos Santos
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | São Carlos. |
| Institution: | Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) |
| Defense date: | 2013-09-03 |
| Examining board members: |
Adriano Almeida Gonçalves Siqueira;
Arturo Forner Cordero;
Anselmo Frizera Neto
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| Advisor: | Adriano Almeida Gonçalves Siqueira |
| Abstract | |
Wearable robots, like prostheses, active orthosis and exoskeletons need of actuators able to meet certain requirements as low output impedance, backdrivability, precise and large torque generation, and a compact and lightweight design. This work presents the design of a rotary Series Elastic Actuator (rSEA) to be used in an active orthosis to assist in flexion/extension of the knee joint during physical therapy. The device includes a DC motor, a worm gear and a customized torsion spring. Since the elastic element is the most important component in the design of the rSEA, an analysis procedure based on Finite Element Method (FEM) is used in order to meet the requirements for the specific application. With a total weight of 2.53 kg, it is possible to directly mount the actuator on the frame of a knee orthosis. Torque and impedance controllers are implemented to ensure secure interaction with the patient and enable new strategies for rehabilitation. The design specifications as well as the controllers performance are verified by experiments. (AU) | |
| FAPESP's process: | 11/04074-3 - Development of an interactive robotic device for rehabilitation of injuries of the knee |
| Grantee: | Wilian Miranda dos Santos |
| Support Opportunities: | Scholarships in Brazil - Master |