Clutched Elastic Actuators

Plooij, Michiel; Wolfslag, Wouter; Wisse, Martijn

doi:10.1109/tmech.2017.2657224

Cited by 49 publications

(24 citation statements)

References 49 publications

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“…One way of solving this issue is by using passive elements to provide the supporting torque and small actuators to engage or disengage this support making these devices quasi-passive. Actuators used for such purposes are called Clutched Elastic Actuators (CEA) [ 15 ]. By means of having the possibility to engage or disengage the passive support of the exoskeleton, unobtrusive movement of the user can be achieved for tasks that do not require assistance.…”

Section: Introductionmentioning

confidence: 99%

Gaussian Mixture Models for Control of Quasi-Passive Spinal Exoskeletons

Jamšek

Petrič

Babič

2020

Sensors

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Research and development of active and passive exoskeletons for preventing work related injuries has steadily increased in the last decade. Recently, new types of quasi-passive designs have been emerging. These exoskeletons use passive viscoelastic elements, such as springs and dampers, to provide support to the user, while using small actuators only to change the level of support or to disengage the passive elements. Control of such devices is still largely unexplored, especially the algorithms that predict the movement of the user, to take maximum advantage of the passive viscoelastic elements. To address this issue, we developed a new control scheme consisting of Gaussian mixture models (GMM) in combination with a state machine controller to identify and classify the movement of the user as early as possible and thus provide a timely control output for the quasi-passive spinal exoskeleton. In a leave-one-out cross-validation procedure, the overall accuracy for providing support to the user was 86 . 72 ± 0 . 86 % (mean ± s.d.) with a sensitivity and specificity of 97 . 46 ± 2 . 09 % and 83 . 15 ± 0 . 85 % respectively. The results of this study indicate that our approach is a promising tool for the control of quasi-passive spinal exoskeletons.

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Section: Introductionmentioning

confidence: 99%

Gaussian Mixture Models for Control of Quasi-Passive Spinal Exoskeletons

Jamšek

Petrič

Babič

2020

Sensors

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“…The use of compliant actuators is often associated with safe human-machine interaction, the reduction of peak torque, peak power, and energy consumption [1][2][3]. Actuators with additional elasticity activatable via a clutch, as an extension of the actuators with constant, permanently-engaged springs, are moving into focus [4]. Various approaches for using parallel elastic actuators (PEAs) have been introduced.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Clutched Parallel Elastic Actuator

Penzlin

Fincan

et al. 2019

Actuators

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Various actuator topologies are discussed for the purpose of powering periodic processes and particularly walking robots. The Clutched Parallel Elastic Actuator (CPEA) is proposed to reduce the energy consumption of active exoskeletons. A nonlinear model of the CPEA is presented in addition to the mechanical design. The CPEA prototype is operated with a passive load on the walking trajectory of the hip joint. The actuator is controlled with a cascaded position control and a superimposed Iterative Learning Controller (ILC). The controller was chosen to ensure comparability between active and deactivated spring operation. The application of the CPEA has the potential to increase efficiency in the design of exoskeletons.

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“…The incorporation of clutches and locking devices in joint actuation systems has become a popular way to control the energy flow in springs [21]. A clutch/locking device switches between allowing and preventing relative motion Variable impedance actuators (VIA) can adapt their compliant properties typically by means of a second motor that modulates the stiffness of the device.…”

Section: Introductionmentioning

confidence: 99%

“…The incorporation of clutches and locking devices in joint actuation systems has become a popular way to control the energy flow in springs [21]. A clutch/locking device switches between allowing and preventing relative motion among two parts; several properties and characteristics, presented in [20], are desirable in these devices when implemented for prosthetics and exoskeleton applications.…”

Section: Introductionmentioning

confidence: 99%

A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL)

Cestari

Sanz‐Merodio²,

García

2018

Actuators

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Adjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due to impacts, to safely interact with the user, and to store and release energy in passive elastic elements. Conceived as a new force-controlled compliant actuator, an adjustable rigidity with embedded sensor and locking mechanism actuator (ARES-XL) is presented in this paper. This compliant system is intended to be implemented in a gait exoskeleton for children with neuro muscular diseases (NMDs) to exploit the intrinsic dynamics during locomotion. This paper describes the mechanics and initial evaluation of the ARES-XL, a novel variable impedance actuator (VIA) that allows the implementation of an add-on locking mechanism to this system, and in combination with its zero stiffness capability and large deflection range, provides this novel joint with improved properties when compared to previous prototypes developed by the authors and other state-of-the-art (SoA) devices. The evaluation of the system proves how this design exceeds the main capabilities of a previous prototype as well as providing versatile actuation that could lead to its implementation in multiple joints.

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Clutched Elastic Actuators

Cited by 49 publications

References 49 publications

Gaussian Mixture Models for Control of Quasi-Passive Spinal Exoskeletons

Gaussian Mixture Models for Control of Quasi-Passive Spinal Exoskeletons

Design and Analysis of a Clutched Parallel Elastic Actuator

A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL)

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