Ultrasonic Motor Based Actuator for Elbow Joint Functional Compensation

  • Dorin Sabin Copaci
  • Antonio Flores Caballero
  • Alejandro Martin Clemente
  • Dolores Blanco Rojas
  • Luis Moreno Lorente
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 252)


Robotic rehabilitation has become very popular in recent years. Nevertheless it still faces various problems related to the system actuation devices. Some classic actuator features, like the noise, weight, size-force relationship, and the efficiency, make them little suitable for such applications. For this reason, piezoelectrically driven ultrasonic motors have become the alternative actuators to the conventional electromagnetic motors. This is due to their light weight, compact size and soundless performance characteristics. The aim of this article is to present a new actuator based on an ultrasonic motor (USM) and a magnetorheological clutch is integrated into a device used in robotic rehabilitation for the elbow joint. At the end, a control strategy algorithm for the USM and its first preliminary results will be presented. The work presented was carried at the Systems Engineering and Automation Department of Carlos III University of Madrid, under the HYPER CONSOLIDER-INGENIO 2010 Spanish project.


ultrasonic motor magnetorheological clutch rehabilitation robotics MR fluid 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Dorin Sabin Copaci
    • 1
  • Antonio Flores Caballero
    • 1
  • Alejandro Martin Clemente
    • 1
  • Dolores Blanco Rojas
    • 1
  • Luis Moreno Lorente
    • 1
  1. 1.RoboticsLabCarlos III University of MadridMadridSpain

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