Series Elastic Actuators for Man-Machine Cooperation
Konferenz: Innovative Small Drives and Micro-Motor Systems - 9. GMM/ETG-Fachtagung
19.09.2013 - 20.09.2013 in Nürnberg, Deutschland
Tagungsband: Innovative Small Drives and Micro-Motor Systems
Seiten: 5Sprache: EnglischTyp: PDF
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Autoren:
Pott, Peter P.; Mueller, Roman; Schlaak, Helmut F. (Institute of Electromechanical Design, M+EMS Lab, Technische Universität Darmstadt, Germany)
Graefenstein, Helge; Fischer, Jakob; Abele, Eberhard (Institute of Production Management, Technology and Machine Tools, Technische Universität Darmstadt, Germany)
Inhalt:
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.