Title :
Design and modelling of a novel linkage mechanism based variable stiffness actuator
Author :
Ze Cui ; Yun Peng ; Donghai Qian ; Haiwei Yang ; Hongwei Pan
Author_Institution :
Dept. of Precision Mech. Eng., Shanghai Univ., Shanghai, China
Abstract :
A variable stiffness actuator is proposed according to the human ergonomic joint actuation mechanism and applied to an elbow rehabilitation robot. The robot employs an antagonistic compliant driving actuation to ensure rehabilitation training effectiveness and the patient´s safety even under the condition of spasm. The robot joint stiffness and position can be controlled simultaneously by using the Feldman equilibrium position control theory, experimental verification is made to verify the nonlinear spring elements in the driving mechanism.
Keywords :
actuators; couplings; elasticity; ergonomics; medical robotics; patient rehabilitation; position control; springs (mechanical); Feldman equilibrium position control theory; antagonistic compliant driving actuation; driving mechanism; elbow rehabilitation robot; human ergonomic joint actuation mechanism; linkage mechanism design; linkage mechanism modelling; nonlinear spring elements; rehabilitation training effectiveness; robot joint position control; robot joint stiffness; spasm condition; variable stiffness actuator; Actuators; Elbow; Force; Joints; Muscles; Robots; Springs; Flexible Driving; Nonlinear Spring; Rehabilitation Robot; Variable Stiffness;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739442
