Abstract
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.
Tom Verstraten is a postdoctoral fellow of the Research Foundation Flanders (FWO). Part of this work was funded by the European Commission ERC Starting grant SPEAR (no. 337596).
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Verstraten, T., Furnémont, R., López-García, P., Crispel, S., Vanderborght, B., Lefeber, D. (2019). A Series Elastic Dual-Motor Actuator Concept for Wearable Robotics. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_32
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DOI: https://doi.org/10.1007/978-3-030-01887-0_32
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