Pott, Peter P. ; Graefenstein, Helge ; Fischer, Jakob ; Müller, Roman ; Schlaak, Helmut F. ; Abele, Eberhard (2013)
Series Elastic Actuators for Man-Machine Cooperation.
9.GMM/ETG-Fachtagung - Innovative Klein- und Mikroantriebstechnik. Nürnberg (19.09.2013-20.09.2013)
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Series Elastic Actuators (SEA) provide good characteristics for man-machine cooperation. Also, zero-torque control becomes possible. The paper presents an example of a series elastic actuator on an active knee ankle foot orthosis (KAFO) to support elderly people. A conventional DC motor with a planetary gearing and cylindrical spring is attached to the knee joint of the orthosis. A state space controller with disturbance observer is used to control the sit-to-stand (STS) movement. It becomes clear, that the slender design of the actuator is useful but for convenient daily activities a smaller SEA is needed. This could be accomplished by using special spring designs produced by the selective laser melting method.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2013 |
| Autor(en): | Pott, Peter P. ; Graefenstein, Helge ; Fischer, Jakob ; Müller, Roman ; Schlaak, Helmut F. ; Abele, Eberhard |
| Art des Eintrags: | Bibliographie |
| Titel: | Series Elastic Actuators for Man-Machine Cooperation |
| Sprache: | Englisch |
| Publikationsjahr: | 19 September 2013 |
| Ort: | Nürnberg |
| Veranstaltungstitel: | 9.GMM/ETG-Fachtagung - Innovative Klein- und Mikroantriebstechnik |
| Veranstaltungsort: | Nürnberg |
| Veranstaltungsdatum: | 19.09.2013-20.09.2013 |
| Kurzbeschreibung (Abstract): | Series Elastic Actuators (SEA) provide good characteristics for man-machine cooperation. Also, zero-torque control becomes possible. The paper presents an example of a series elastic actuator on an active knee ankle foot orthosis (KAFO) to support elderly people. A conventional DC motor with a planetary gearing and cylindrical spring is attached to the knee joint of the orthosis. A state space controller with disturbance observer is used to control the sit-to-stand (STS) movement. It becomes clear, that the slender design of the actuator is useful but for convenient daily activities a smaller SEA is needed. This could be accomplished by using special spring designs produced by the selective laser melting method. |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Elektromechanische Konstruktionen (aufgelöst 18.12.2018) 18 Fachbereich Elektrotechnik und Informationstechnik > Mikrotechnik und Elektromechanische Systeme |
| Hinterlegungsdatum: | 23 Sep 2013 14:27 |
| Letzte Änderung: | 19 Apr 2016 08:48 |
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