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Series Elastic Actuators for Man-Machine Cooperation

Pott, Peter P. and Graefenstein, Helge and Fischer, Jakob and Müller, Roman and Schlaak, Helmut F. and Abele, Eberhard (2013):
Series Elastic Actuators for Man-Machine Cooperation.
Nürnberg, In: 9.GMM/ETG-Fachtagung - Innovative Klein- und Mikroantriebstechnik, Nürnberg, 19.-20.09.2013, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2013
Creators: Pott, Peter P. and Graefenstein, Helge and Fischer, Jakob and Müller, Roman and Schlaak, Helmut F. and Abele, Eberhard
Title: Series Elastic Actuators for Man-Machine Cooperation
Language: English
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.

Place of Publication: Nürnberg
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Microtechnology and Electromechanical Systems
Event Title: 9.GMM/ETG-Fachtagung - Innovative Klein- und Mikroantriebstechnik
Event Location: Nürnberg
Event Dates: 19.-20.09.2013
Date Deposited: 23 Sep 2013 14:27
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