Torque Control Characterization of a Rotary Series Elastic Actuator for Knee Rehabilitation

被引：0

作者：

dos Santos, Wilian M. ^{[1
]}

Caurin, Glauco A. P.

Siqueira, Adriano A. G.

机构：

[1] Univ Sao Paulo, Engn Sch Sao Carlos, Ctr Robot Sao Carlos, BR-400 Sao Carlos, SP, Brazil

来源：

2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) | 2013年

关键词：

JOINT;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents the evaluation of a rotary Series Elastic Actuator (SEA) designed to assist in flexion/ extension of the knee joint during physical therapy. The proposed device includes a DC motor, a worm gear and a customized torsion spring. Since the elastic element is the most important component in the SEA design, an analysis procedure based on Finite Element Method (FEM) is used in order to meet the specific requirements of knee assistance. With a total weight of 2.53 kg, it is possible to directly mount the actuator on a knee orthosis frame. Torque controller is implemented to ensure secure interaction with the patient and enable new strategies for rehabilitation. The design specifications as well as the controllers performance are verified by experiments.

引用

页数：6

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