TY - GEN
T1 - A series elastic composite actuator for soft arm exosuits
AU - Cappello, Leonardo
AU - Pirrera, Alberto
AU - Weaver, Paul
AU - Masia, Lorenzo
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/28
Y1 - 2015/9/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84946086486&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2015.7281176
DO - 10.1109/ICORR.2015.7281176
M3 - Conference contribution
AN - SCOPUS:84946086486
T3 - IEEE International Conference on Rehabilitation Robotics
SP - 61
EP - 66
BT - Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
A2 - Yu, Haoyong
A2 - Braun, David
A2 - Campolo, Domenico
PB - IEEE Computer Society
T2 - 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
Y2 - 11 August 2015 through 14 August 2015
ER -