A series elastic composite actuator for soft arm exosuits

Leonardo Cappello, Alberto Pirrera, Paul Weaver, Lorenzo Masia

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The paper introduces a novel type of actuator for soft wearable exoskeletons providing assistance to the elbow joint motion. The mechanism consists of two DC motors, a multistable composite transmission which introduces series elastic properties, a high-efficiency non-backdrivable mechanism and a pair of Bowden cables to transmit the motion from the actuator to the joint. A test bench has been designed to experimentally characterize the performance of the proposed device. The control architecture is then introduced and described. The results of preliminary tests are shown and discussed. In conclusion, future developments and a embodiment of the envisioned application are introduced.

Original languageEnglish
Title of host publicationProceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
Subtitle of host publicationEnabling Technology Festival, ICORR 2015
EditorsHaoyong Yu, David Braun, Domenico Campolo
PublisherIEEE Computer Society
Pages61-66
Number of pages6
ISBN (Electronic)9781479918072
DOIs
Publication statusPublished - 28 Sep 2015
Externally publishedYes
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: 11 Aug 201514 Aug 2015

Publication series

NameIEEE International Conference on Rehabilitation Robotics
Volume2015-September
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Conference

Conference14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
Country/TerritorySingapore
CitySingapore
Period11/08/1514/08/15

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