A Series Elastic Dual-Motor Actuator Concept for Wearable Robotics
Series Elastic Actuators (SEAs) are used extensively in the field of wearable robotics because of their energy efficiency. Redundant drivetrains enable a further reduction in electrical energy consumption, as they use the actuator’s motors in a more energy efficient way. In this work, we present a Series Elastic Dual-Motor Actuator (SEDMA), a kinematically redundant actuator with series elasticity. We simulate its use in an ankle prosthesis and compare its energy efficiency to that of a traditional SEA. Results indicate an energy reduction of 16% compared to the SEA.
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