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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Design and Performance Analysis of a Compact Series Elastic Actuator for Exoskeletons

Full text
Author(s):
de Gaitani, F. H. M. [1, 2] ; dos Santos, W. M. [3] ; Siqueira, A. A. G. [4]
Total Authors: 3
Affiliation:
[1] Sao Paulo State Univ UNESP, 505 Profa Isette Correa Fontao Ave, BR-13876750 Sao Joao Da Boa Vista, SP - Brazil
[2] Univ Sao Paulo, Engn Sch Sao Carlos, Dept Mech Engn, Trabalhador Sao Carlense Ave, BR-13566590 Sao Carlos, SP - Brazil
[3] Univ Estadual Paulista, Campus Sao Joao Boa Vista Av Profa Isette Correa, BR-505 Jardim Das Flores, SP - Brazil
[4] Av Trabalhador Sao Carlense 400, BR-13566590 Sao Carlos, SP - Brazil
Total Affiliations: 4
Document type: Journal article
Source: JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS; JAN 2022.
Web of Science Citations: 0
Abstract

In this paper, a compact Series Elastic Actuator is designed and evaluated. The proposed actuator will be used to drive the joints of the modular exoskeleton for lower limbs ExoTAO (Transparent Active Orthosis), available at the Robotic Rehabilitation Laboratory of EESC/USP. This equipment is being developed to assist in the rehabilitation of people with motor disabilities resulting from injuries to the central nervous system or to the spinal cord. The differential of the proposed actuator is the use of a customized and compact torsion spring, providing the necessary levels of torque and velocity to drive the exoskeleton. Such performance levels were evaluated considering the characteristics of the selected components and the gait patterns available in the literature. In addition to the theoretical analysis, experimental tests were also conducted with the actuator in order to evaluate its performance in achieving a satisfactory torque control. Time and frequency responses show the proposed actuator is able to reproduce the necessary torque to drive the exoskeleton ExoTAO, achieving high bandwidth values. (AU)

FAPESP's process: 19/23413-5 - Development of compact series elastic actuators for lower limb exoskeletons
Grantee:Fabio Henrique Masetto de Gaitani
Support Opportunities: Scholarships in Brazil - Scientific Initiation
FAPESP's process: 19/05937-7 - Hybrid adaptive strategies for lower limb exoskeletons
Grantee:Adriano Almeida Gonçalves Siqueira
Support Opportunities: Regular Research Grants