Abstract
This paper presents the design of a new inherently compliant actuator intended for the development of a knee exoskeleton. The proposed actuator has the ability to reconfigure the level of stiffness in order to achieve suitable torque-to-angular displacement profiles for different human tasks and users. The design specifications of the actuator have been obtained from motion capture and simulation data of sit-stand-sit motion cycle. The actuator functional principle and modeling are presented. Finally the mechatronic design of the actuator is described.
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Karavas, N.C., Tsagarakis, N.G., Saglia, J., Galdwell, D.G. (2012). A Novel Actuator with Reconfigurable Stiffness for a Knee Exoskeleton: Design and Modeling. In: Dai, J., Zoppi, M., Kong, X. (eds) Advances in Reconfigurable Mechanisms and Robots I. Springer, London. https://doi.org/10.1007/978-1-4471-4141-9_37
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DOI: https://doi.org/10.1007/978-1-4471-4141-9_37
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