DocumentCode :
1866549
Title :
Design and analysis of a non-backdrivable series elastic actuator
Author :
Sensinger, Jonathon W. ; Weir, Richard F ff
Author_Institution :
Northwestern Univ., Evanston, IL, USA
fYear :
2005
fDate :
28 June-1 July 2005
Firstpage :
390
Lastpage :
393
Abstract :
The compliance of series elastic actuators makes them robust to environmental perturbations, and their ability to use impedance control may improve their performance in open-loop environments such as conventional prosthetic control. Series elastic actuators have historically required a backdrivable transmission to ensure adequate bandwidth. The authors have created a non-backdrivable series elastic actuator through the inclusion of a harmonic drive transmission, which contains no backlash; the dominant feature in limiting frequency resolution. The actuator has an acceptable speed and stall torque and an adequate frequency range, and would be used in the future to implement impedance control of prosthetics.
Keywords :
actuators; control system analysis; elasticity; mechanical variables control; open loop systems; perturbation techniques; prosthetics; environmental perturbations; harmonic drive transmission; impedance control; nonbackdrivable series elastic actuator; open-loop system; prosthetic control; Actuators; Bandwidth; Frequency; Gears; Impedance; Legged locomotion; Prosthetics; Robots; Springs; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on
Print_ISBN :
0-7803-9003-2
Type :
conf
DOI :
10.1109/ICORR.2005.1501126
Filename :
1501126
Link To Document :
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