Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot

Name: Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot
Author: Kuru, Alihan, Uğurlu, Regaip Barkan, Bebek, Özkan

İsim	Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot
Yazar	Kuru, Alihan, Uğurlu, Regaip Barkan, Bebek, Özkan
Basım Tarihi:	2022
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-380075894-4
Kayıt Numarası	4b6c5e52-66c9-482d-b415-5c3dec1ea050
Lokasyon	Mechanical Engineering
Tarih	2022
Notlar	TÜBİTAK
Örnek Metin	This paper presents the design of a high torque-to-mass ratio series elastic actuator (SEA) for wearable powered exoskeletons. Nonbackdrivable actuators are ideal for applications that require high torque. Commonly, active exoskeleton robots are powered by actuators that are nonbackdrivable. Due to the high gear ratio, the output mechanical impedance of these actuators is quiet high which renders their force/torque control challenging. To provide torque controllability a custom torsional spring has been produced and placed at the output side of the series elastic actuator. In addition, the measurement of the angular displacement of this elastic element is challenging in terms of mechanical design. To prevent this design challenge a double shaft mechanism was proposed. In this mechanism, the first shaft, which connects the spring and the spring encoder, goes through the second shaft, which is connected to the motor and the motor encoder. This way both encoders are placed on a the same side of the SEA. In addition to explaining this compact spring shaft mechanism, this article presents the results of the cascaded PID controller with a disturbance observer (DoB) applied on the actuator.

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Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot

Yazar Kuru, Alihan, Uğurlu, Regaip Barkan, Bebek, Özkan

Basım Tarihi 2022

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-380075894-4

Kayıt Numarası 4b6c5e52-66c9-482d-b415-5c3dec1ea050

Lokasyon Mechanical Engineering

Tarih 2022

Notlar TÜBİTAK

Örnek Metin This paper presents the design of a high torque-to-mass ratio series elastic actuator (SEA) for wearable powered exoskeletons. Nonbackdrivable actuators are ideal for applications that require high torque. Commonly, active exoskeleton robots are powered by actuators that are nonbackdrivable. Due to the high gear ratio, the output mechanical impedance of these actuators is quiet high which renders their force/torque control challenging. To provide torque controllability a custom torsional spring has been produced and placed at the output side of the series elastic actuator. In addition, the measurement of the angular displacement of this elastic element is challenging in terms of mechanical design. To prevent this design challenge a double shaft mechanism was proposed. In this mechanism, the first shaft, which connects the spring and the spring encoder, goes through the second shaft, which is connected to the motor and the motor encoder. This way both encoders are placed on a the same side of the SEA. In addition to explaining this compact spring shaft mechanism, this article presents the results of the cascaded PID controller with a disturbance observer (DoB) applied on the actuator.