外骨骼式训练中用作扭矩执行器的系列弹性和波登索驱动系统的设计

J. Veneman, R. Ekkelenkamp, R. Kruidhof, F. V. D. Helm, H. Kooij
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引用次数: 147

摘要

普通驱动器在外骨骼型康复(训练)机器人中使用有重要的缺点。执行器要么是沉重的,复杂的或差的扭矩源。提出并测试了一种新型驱动系统,该系统结合了轻便的关节和简单的结构,并具有足够的扭矩源质量。它由伺服电机、柔性波登索传动和基于串联弹性元件的力反馈回路组成。测量表明,该性能足以用于步态康复机器人。
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Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training
Common actuators have important drawbacks for use in an exoskeleton type of rehabilitation (training) robot. Either the actuators are heavy, complex or poor torque sources. A new actuation system is proposed and tested that combines a lightweight joint and a simple structure with adequate torque source quality. It consists of a servomotor, a flexible Bowden cable transmission, and a force feedback loop based on a series elastic element. Measurements show that performance is sufficient for use in a gait rehabilitation robot.
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