A Spring-Embedded Planetary-Geared Parallel Elastic Actuator

Chaichaowarat, Ronnapee; Kinugawa, Jun; Seino, Akira; Kosuge, Kazuhiro

doi:10.1109/aim43001.2020.9158998

Cited by 19 publications

(4 citation statements)

References 52 publications

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“…For improving the design, shifting the pivot position behind is beneficial in terms of standing stability. The parallel elastic concepts [36][37][38] can be applied to safely enhance the torque capacity of the exoskeleton joints. A motion controller should be developed for walking and stair climbing [39,40].…”

Section: Discussionmentioning

confidence: 99%

Transformable Wheelchair–Exoskeleton Hybrid Robot for Assisting Human Locomotion

2023

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This paper presents a novel wheelchair–exoskeleton hybrid robot that can transform between sitting and walking modes. The lower-limb exoskeleton uses planetary-geared motors to support the hip and knee joints. Meanwhile, the ankle joints are passive. The left and right wheel modules can be retracted to the lower legs of the exoskeleton to prepare for walking or stepping over obstacles. The chair legs are designed to form a stable sitting posture to avoid falling while traveling on smooth surfaces with low energy consumption. Skateboard hub motors are used as the front driving wheels along with the rear caster wheels. The turning radius trajectory as the result of differential driving was observed in several scenarios. For assisting sit-to-stand motion, the desired joint velocities are commanded by the user while the damping of the motors is set. For stand-to-sit motion, the equilibrium of each joint is set to correspond to the standing posture, while stiffness is adjusted on the basis of assistive levels. The joint torques supported by the exoskeleton were recorded during motion, and leg muscle activities were studied via surface electromyography for further improvement.

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Section: Discussionmentioning

confidence: 99%

Transformable Wheelchair–Exoskeleton Hybrid Robot for Assisting Human Locomotion

2023

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“…With our controller, we were able to reduce the apparent inertia by about 14 times, while the viscosity became about 12 times smaller. used for designing the planar spiral spring of the parallel elastic actuator [41], was applied to our linear variable-stiffness mechanism (LVSM) which maintains the small endpoint deflection by using the vertical equilibrium adjuster [19].…”

Section: Stiffness Model Considering Non-zero Slopes Of Dual Roller-pairs Supportmentioning

confidence: 99%

Work in the Time of Covid-19: Actuators and Sensors for Rehabilitation Robotics

et al. 2022

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“…Because the velocity change was not continuous, linear modeling was possible. As with robots with compliant joints that may have extremely dynamic movements, changes in speed and friction due to wear and heating must be accounted for [9][10][11]. A neural-network-based approach for adaptive vibration control using ER dampers that ignores damper actuator dynamics is presented in [12].…”

Section: Introductionmentioning

confidence: 99%

Variable Damping Actuator Using an Electromagnetic Brake for Impedance Modulation in Physical Human–Robot Interaction

Ullah,

Chaichaowarat,

Wannasuphoprasit

2023

Robotics

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Compliance actuation systems are efficient and safe, drawing attention to their development. However, compliance has caused bandwidth loss, instability, and mechanical vibration in robotic systems. Variable physical damping was introduced to address these issues. This paper presents a technique for obtaining variable damping properties using an electromagnetic brake. The relationship mapping of the voltage and the braking torque is studied and applied to the variable damping concept. A new model is proposed to demonstrate the actuation system performance gained by introducing physical damping. The experimental setup comprises an electromagnetic brake and a motor with an integrated controller for speed control and torque feedback. The motor provides the motion, while the electromagnetic brake replicates the damping through a friction mechanism. The variable damping concept was evaluated experimentally using a 1-degree-of-freedom rotational system. Experimental results show that the proposed concept can generate the desired mechanical damping with a high degree of fidelity.

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A Spring-Embedded Planetary-Geared Parallel Elastic Actuator

Cited by 19 publications

References 52 publications

Transformable Wheelchair–Exoskeleton Hybrid Robot for Assisting Human Locomotion

Transformable Wheelchair–Exoskeleton Hybrid Robot for Assisting Human Locomotion

Work in the Time of Covid-19: Actuators and Sensors for Rehabilitation Robotics

Variable Damping Actuator Using an Electromagnetic Brake for Impedance Modulation in Physical Human–Robot Interaction

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