Design and Performance Analysis of a Compact Series Elastic Actuator for Exoskeletons

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dc.contributor.authorde Gaitani, F. H.M. [UNESP]
dc.contributor.authordos Santos, W. M. [UNESP]
dc.contributor.authorSiqueira, A. A.G.
dc.contributor.institutionUniversidade de São Paulo (USP)
dc.contributor.institutionUniversidade Estadual Paulista (UNESP)
dc.contributor.institutionAv. Trabalhador São-Carlense
dc.date.accessioned2022-04-28T19:48:59Z
dc.date.available2022-04-28T19:48:59Z
dc.date.issued2022-01-01
dc.description.abstractIn this paper, a compact Series Elastic Actuator is designed and evaluated. The proposed actuator will be used to drive the joints of the modular exoskeleton for lower limbs ExoTAO (Transparent Active Orthosis), available at the Robotic Rehabilitation Laboratory of EESC/USP. This equipment is being developed to assist in the rehabilitation of people with motor disabilities resulting from injuries to the central nervous system or to the spinal cord. The differential of the proposed actuator is the use of a customized and compact torsion spring, providing the necessary levels of torque and velocity to drive the exoskeleton. Such performance levels were evaluated considering the characteristics of the selected components and the gait patterns available in the literature. In addition to the theoretical analysis, experimental tests were also conducted with the actuator in order to evaluate its performance in achieving a satisfactory torque control. Time and frequency responses show the proposed actuator is able to reproduce the necessary torque to drive the exoskeleton ExoTAO, achieving high bandwidth values.en
dc.description.affiliationDepartment of Mechanical Engineering Engineering School of São Carlos University of São Paulo, 400, Trabalhador São-Carlense Avenue, SP
dc.description.affiliationSão Paulo State University (UNESP), 505, Profa. Isette Corrêa Fontão Avenue, SP
dc.description.affiliationUniversidade Estadual Paulista Júlio de Mesquita Filho Câmpus São João da Boa Vista Av. Profa. Isette Correa Fontão, 505 – Jardim das Flores, SP
dc.description.affiliationAv. Trabalhador São-Carlense, 400. Parque Arnold Schmidt, SP
dc.description.affiliationUnespSão Paulo State University (UNESP), 505, Profa. Isette Corrêa Fontão Avenue, SP
dc.description.affiliationUnespUniversidade Estadual Paulista Júlio de Mesquita Filho Câmpus São João da Boa Vista Av. Profa. Isette Correa Fontão, 505 – Jardim das Flores, SP
dc.identifierhttp://dx.doi.org/10.1007/s40313-021-00863-1
dc.identifier.citationJournal of Control, Automation and Electrical Systems.
dc.identifier.doi10.1007/s40313-021-00863-1
dc.identifier.issn2195-3899
dc.identifier.issn2195-3880
dc.identifier.scopus2-s2.0-85122260924
dc.identifier.urihttp://hdl.handle.net/11449/223170
dc.language.isoeng
dc.relation.ispartofJournal of Control, Automation and Electrical Systems
dc.sourceScopus
dc.subjectExoskeleton
dc.subjectOrthosis
dc.subjectRehabilitation
dc.subjectRobotic
dc.subjectSeries elastic actuator
dc.titleDesign and Performance Analysis of a Compact Series Elastic Actuator for Exoskeletonsen
dc.typeArtigo
unesp.author.orcid0000-0003-4315-2664[1]

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