Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2011
Series elastic actuator control of a powered exoskeleton.
СтатьяПоддержка исследования: вне правительства СШАНазвание и аннотация: Перевод пока не подготовлен
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Ошибки и ограничения
История · было → стало
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Ragonesi Daniel, Agrawal Sunil, Sample Whitney, Rahman Tariq
Аннотация
A motorized upper extremity orthosis based on the passive WREX system is being developed. The orthosis is a 4 dof arm controlled by user residual force inputs. The arm is intended for people with neuromuscular weakness due to muscular dystrophy or spinal muscular atrophy. Previous work determined that actuation in parallel with gravity balancing springs required less torque than actuation in series. Compliance is achieved by using a series elastic actuator (SEA) by placing torsional springs between the motors and the WREX. A torque control was implemented on the SEA at the joint level. The response of the control law was characterized without disturbances. The SEAs were then attached to the orthosis to test the response with disturbances, and the control provided accurate joint torques.