使用'Jack Spring'/spl trade/的可调节机器人肌腱

K. Hollander, T. Sugar, D. Herring
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引用次数: 110

摘要

可调节机器人肌腱是一种基于弹簧的线性执行器,其中弹簧的特性对其在步态辅助装置中的成功使用至关重要。就像它的人类模拟物一样,可调节的机器人肌腱利用其固有的弹性特性来降低其电机的峰值功率和能量需求。在理想的例子中,踝关节步态所需的电机峰值功率从250瓦减少到81瓦。此外,理想的能量需求从每一步36焦耳减少到25焦耳。使用这种方法,最初的原型有望在0.84公斤的紧凑包装中提供踝关节步态所需的100%的动力和能量。此权重比等效直接驱动方法的预测值小8倍。
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Adjustable robotic tendon using a 'Jack Spring'/spl trade/
An adjustable robotic tendon is a spring based linear actuator in which the properties of a spring are crucial to its successful use in a gait assistance device. Like its human analog, the adjustable robotic tendon uses its inherent elastic nature to both reduce peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250 W to just 81 W. In addition, ideal energy requirements are reduced from nearly 36 Joules to just 25 Joules per step. Using this approach, an initial prototype is expected to provide 100% of the power and energy necessary for ankle gait in a compact 0.84 kg package. This weight is 8 times less than that predicted for an equivalent direct drive approach.
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A dual input device for self-assisted control of a virtual pendulum Realizing a posture-based wearable antigravity muscles support system for lower extremities Adjustable robotic tendon using a 'Jack Spring'/spl trade/ A 3-D rehabilitation system for upper limbs developed in a 5-year NEDO project and its clinical testing A motorized gravity compensation mechanism used for active rehabilitation of upper limbs
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