Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

Control and performance of upper- and lower extremity SEA-based exoskeletons

Control and performance of upper- and lower extremity SEA-based exoskeletons

For access to this article, please select a purchase option:

Buy chapter PDF
£10.00
(plus tax if applicable)
Buy Knowledge Pack
10 chapters for £75.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
Wearable Exoskeleton Systems: Design, control and applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

In the last years compliant actuators have become extremely popular in the field of wearable robotics, due to their ability to realize safe human-robot interfaces. One of the most well-known example of a compliant actuator is the series elastic actuator (SEA), consisting of an elastic element (e.g. a spring) in series with a stiff actuator; such actuation architecture is considered to be the simplest design solution to realize compliant, compact, and light-weight actuators for wearable robots; in addition, from the control perspective, SEA architecture allows for simple force or torque control in addition to position control. In this chapter, three wearable robots for upperand lower-limb rehabilitation and assistance, developed at The BioRobotics Institute of Scuola Superiore Sant'Anna, are described. The three devices have similar SEA-based actuation units, integrating commercial electromagnetic motors and custom torsional springs, with constant stiffness and linear torque-deformation characteristics. Closed-loop torque control performance show that the systems can be highly transparent when controlled under zero-torque modality, i.e. the interaction with the human is minimal and the actuators do not hinder the user's movement, and bandwidths and output torques are compatible with the human movements to be assisted.

Chapter Contents:

  • Abstract
  • 7.1 Compliant actuators with series elasticity for wearable robots
  • 7.2 NEUROExos elbow module
  • 7.2.1 SEA architecture: mechanics and control
  • 7.2.2 High-level control
  • 7.3 NEUROExos shoulder–elbow module
  • 7.3.1 SEA architecture: mechanics and control
  • 7.3.2 High-level control
  • 7.4 Active pelvis orthosis
  • 7.4.1 SEA architecture: mechanics and control
  • 7.4.2 High-level control
  • 7.5 Performance, strengths, and challenges of SEAs in wearable robotics
  • References

Inspec keywords: patient rehabilitation; actuators; elasticity; human-robot interaction; wearable robots; torsion; torque control; medical robotics; position control; springs (mechanical); closed loop systems

Other keywords: lower-limb rehabilitation; elastic element; SEA architecture; electromagnetic motors; torsional springs; light-weight actuators; compliant actuator; upper extremity sea-based exoskeletons; series elastic actuator; stiff actuator; closed-loop torque control performance; linear torque-deformation characteristics; Scuola Superiore SantAnna; zero-torque modality; actuation architecture; lower extremity sea-based exoskeletons; human-robot interfaces; wearable robotics; constant stiffness

Subjects: Prosthetic and orthotic control systems; Mechanical components; Human-robot interaction; Mechanical variables control; Robot and manipulator mechanics; Elasticity (mechanical engineering); Robotics

Preview this chapter:
Zoom in
Zoomout

Control and performance of upper- and lower extremity SEA-based exoskeletons, Page 1 of 2

| /docserver/preview/fulltext/books/ce/pbce108e/PBCE108E_ch7-1.gif /docserver/preview/fulltext/books/ce/pbce108e/PBCE108E_ch7-2.gif

Related content

content/books/10.1049/pbce108e_ch7
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address