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Series Elastic Actuators for Man-Machine Cooperation

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.-20.09.2013)
Conference or Workshop Item, Bibliographie

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. ; Graefenstein, Helge ; Fischer, Jakob ; Müller, Roman ; Schlaak, Helmut F. ; Abele, Eberhard
Type of entry: Bibliographie
Title: Series Elastic Actuators for Man-Machine Cooperation
Language: English
Date: 19 September 2013
Place of Publication: Nürnberg
Event Title: 9.GMM/ETG-Fachtagung - Innovative Klein- und Mikroantriebstechnik
Event Location: Nürnberg
Event Dates: 19.-20.09.2013
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.

Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design (dissolved 18.12.2018)
18 Department of Electrical Engineering and Information Technology > Microtechnology and Electromechanical Systems
Date Deposited: 23 Sep 2013 14:27
Last Modified: 19 Apr 2016 08:48
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