Desenvolvimento de um Atuador Elástico em Série para o Acionamento da Junta do Quadril do Exoesqueleto Exo-TAO

Authors

  • Wilian M. dos Santos Universidade Estadual Paulista (Unesp), Faculdade de Engenharia, São João da Boa Vista, SP
  • Felix M. Escalante Ortega Universidade de São Paulo (USP), Escola de Engenharia de São Carlos (EESC), Departamento de Engenharia Mecânica, São Carlos, SP
  • Adriano A. G. Siqueira Universidade de São Paulo (USP), Escola de Engenharia de São Carlos (EESC), Departamento de Engenharia Mecânica, São Carlos, SP

DOI:

https://doi.org/10.20906/CBA2022/3212

Keywords:

Robotics, Exoskeleton, Series Elastic Actuator, Torque Control

Abstract

This article deals with the design and control of a new rotational series elastic actuator (SEAr) to drive the hip joint of the Exo-TAO exoskeleton. The proposed actuator consists of a flat DC motor, a Harmonic Drive gear and a customized torsion spring. Torque control is implemented to ensure secure and compliant interaction with the user. Experiments with the Exo-TAO, configured with zero impedance, showed that a healthy individual can walk wearing the exoskeleton with reasonable comfort and a near-natural gait pattern.

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Published

2022-10-19

Issue

Vol. 3 No. 1 (2022): CBA2022

Section

Articles