Comparison of Two Series Elastic Actuator Designs Incorporated into a Shoulder Exoskeleton.
Comparison of Two Series Elastic Actuator Designs Incorporated into a Shoulder Exoskeleton.
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纳入肩部外骨骼的两个系列弹性执行器设计的比较。
DOI：
10.1109/icorr.2019.8779448
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Lum,PeterS
中科院分区：
文献类型：
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作者：
Casas,Rafael;Chen,Tianyao;Lum,PeterS
低阻抗和扭矩控制对于使用机器人外骨骼的运动康复至关重要。设计了一种接地的3自由度肩外骨骼，用于肩外展/内收、屈曲/伸展和肩内旋/外旋中的运动辅助。两个系列的弹性致动器的设计开发使用的线性弹簧安排与全球非线性刚度行为。当肢体以高达3.5 Hz的正弦轨迹移动时，施加恒定扭矩期间的RMS误差在肩关节上/下举中小于0.06 Nm，在手臂旋转中小于0.04 Nm。对于abd/内收，阶跃响应上升时间为0.05 s，自由模式阻抗在3.5 Hz振荡期间达到峰值0.007 Nm/deg。对于手臂旋转，阶跃响应上升时间为0.03 s，在3.5 Hz振荡期间阻抗峰值为0.023 Nm/deg。两种SEA设计的性能测量结果与其他SEA设计在扭矩跟踪方面相似，但阻抗比以前报告的低得多。
Low impedance and torque control are critical for movement rehabilitation using robotic exoskeletons. A grounded 3 degree of freedom shoulder exoskeleton was designed for movement assistance in shoulder abduction/adduction, flexion/extension, and shoulder internal/external rotation. Two series elastic actuators designs were developed using a linear spring arrangement with a global nonlinear stiffness behavior. RMS errors during application of constant torque were less than.06 Nm in shoulder add/abd and less than.04 Nm in arm rotation as the limb was moved in sinusoidal trajectories up to 3.5 Hz. For abd/adduction, the step response rise time was.05 s, and free mode impedance peaked at.007 Nm/deg during 3.5 Hz oscillations. For arm rotation, the step response rise time was.03 s, and impedance peaked at.023 Nm/deg during 3.5 Hz oscillations. Both SEA designs had performance measurements that were similar to other SEA designs in terms of torque tracking, but with much lower impedance than previously reported.