Title :
Torque control characterization of a rotary series elastic actuator for knee rehabilitation
Author :
dos Santos, Walbermark M. ; Caurin, Glauco A. P. ; Siqueira, Adriano A. G.
Author_Institution :
Center for Robot. of Sao Carlos, Univ. of Sao Paulo, Sao Carlos, Brazil
Abstract :
This paper presents the evaluation of a rotary Series Elastic Actuator (SEA) designed to assist in flexion/extension of the knee joint during physical therapy. The proposed device includes a DC motor, a worm gear and a customized torsion spring. Since the elastic element is the most important component in the SEA design, an analysis procedure based on Finite Element Method (FEM) is used in order to meet the specific requirements of knee assistance. With a total weight of 2.53 kg, it is possible to directly mount the actuator on a knee orthosis frame. Torque controller is implemented to ensure secure interaction with the patient and enable new strategies for rehabilitation. The design specifications as well as the controllers performance are verified by experiments.
Keywords :
actuators; finite element analysis; orthotics; patient rehabilitation; torque control; DC motor; FEM; SEA; customized torsion spring; elastic element; finite element method; knee assistance; knee joint flexion-extension; knee orthosis frame; knee rehabilitation; mass 2.53 kg; physical therapy; rotary series elastic actuator; torque control characterization; worm gear; Actuators; Finite element analysis; Joints; Knee; Springs; Stress; Torque;
Conference_Titel :
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location :
Montevideo
DOI :
10.1109/ICAR.2013.6766567
