High power series elastic actuator development for torque-controlled exoskeletons

Name: High power series elastic actuator development for torque-controlled exoskeletons
Author: Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Şendur, Polat, Uğurlu, Regaip Barkan

İsim	High power series elastic actuator development for torque-controlled exoskeletons
Yazar	Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Şendur, Polat, Uğurlu, Regaip Barkan
Basım Tarihi:	2019
Basım Yeri	- Springer Nature
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-3-030-01886-3
Kayıt Numarası	40cbf47d-5dd0-47a1-8fc8-b9bda933ce4f
Lokasyon	Mechanical Engineering
Tarih	2019
Notlar	TÜBİTAK
Örnek Metin	This paper presents the development procedures of a high power series elastic actuator that can be used in torque-controlled exoskeleton applications as a high-fidelity torque source. In order to provide a high torque output while containing its weight, the main objective was to satisfy dimensional and weight requirements within a compact structure. A three-fold design approach was implemented: (i) The torsional spring was designed using finite element analyses and its stiffness profile was experimentally tested via a torsional test machine, (ii) thermal behavior of the actuator was experimentally examined to ensure sufficient heat dissipation, (iii) the fatigue life of the spring was computed to be 9.5 years. Having manufactured the actuator, preliminary torque-control experiments were conducted. As the result, a high-fidelity torque control was achieved with a control bandwidth of up to 12 Hz.
Editör	Carrozza, M. C., Micera, S., Pons, J. L.
DOI	10.1007/978-3-030-01887-0_14
Cilt	22

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High power series elastic actuator development for torque-controlled exoskeletons

Yazar Yıldırım, Mehmet Can, Kansızoğlu, Ahmet Talha, Şendur, Polat, Uğurlu, Regaip Barkan

Basım Tarihi 2019

Basım Yeri - Springer Nature

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-3-030-01886-3

Kayıt Numarası 40cbf47d-5dd0-47a1-8fc8-b9bda933ce4f

Lokasyon Mechanical Engineering

Tarih 2019

Notlar TÜBİTAK

Örnek Metin This paper presents the development procedures of a high power series elastic actuator that can be used in torque-controlled exoskeleton applications as a high-fidelity torque source. In order to provide a high torque output while containing its weight, the main objective was to satisfy dimensional and weight requirements within a compact structure. A three-fold design approach was implemented: (i) The torsional spring was designed using finite element analyses and its stiffness profile was experimentally tested via a torsional test machine, (ii) thermal behavior of the actuator was experimentally examined to ensure sufficient heat dissipation, (iii) the fatigue life of the spring was computed to be 9.5 years. Having manufactured the actuator, preliminary torque-control experiments were conducted. As the result, a high-fidelity torque control was achieved with a control bandwidth of up to 12 Hz.

Editör Carrozza, M. C., Micera, S., Pons, J. L.

DOI 10.1007/978-3-030-01887-0_14

Cilt 22