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

Autor(es)

de Gaitani, F. H. M. ^{[1, 2]} ; dos Santos, W. M. ^[3] ; Siqueira, A. A. G. ^[4]

Afiliação do(s) autor(es)

^[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

• Tipo de documento: Artigo Científico
• Fonte: JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS; JAN 2022.
• Citações Web of Science: 0

Resumo

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)

• Processo FAPESP: 19/23413-5 - Desenvolvimento de atuadores elásticos em série compactos para exoesqueletos
• Beneficiário: Fabio Henrique Masetto de Gaitani
• Modalidade de apoio: Bolsas no Brasil - Iniciação Científica
• Processo FAPESP: 19/05937-7 - Estratégias adaptativas híbridas para exoesqueletos de membros inferiores
• Beneficiário: Adriano Almeida Gonçalves Siqueira
• Modalidade de apoio: Auxílio à Pesquisa - Regular