This study proposes a novel actuator that can generate desired tension by torque control to provide necessary load for physical exercise. In order to reduce the required torque level of the motor, a spring is incorporated in this actuator design such that the torque (and thus tension) can be generated not only by the motor but also from the spring.
Table Of Contents
1 Introduction 1 1.1 Background and Motivation. 1 1.2 Contributions. 2 2 Characteristic of Parallel Elastic Actuator 4 2.1 Parallel Elastic Actuator Compared with Series Elastic Actuator 4 2.2 Consideration for High Performance Parallel Elastic Actuator 6 3 Dynamic Analysis and Optimization of PEA 7 3.1 PEA Developed for Physical Exercise 7 3.2 Dynamic Model of PEA. 9 3.3 Optimal Selection of Gear Ratio 10 3.3.1 Optimal Gear Ratio with Sinusoidal Load Pattern 10 3.3.2 Optimal Gear Ratio with Constant Load. 11 3.4 Analysis of Spiral Spring. 12 3.5 Optimal Design of Spiral Spring. 14 4 Development of PEA with Optimal Gear Ratio and Spring Parameter 16 4.1 Measurement of Physical Exercise. 16 4.2 Optimal Design of Spring 17 4.3 Decision of Gear Ratio 20 4.4 Capacity Comparison with Helical Torsion Spring. 22 5 Torque Controller Design and Verication 23 5.1 PEA Output Torque Controller. 23 5.2 Experimental Setup to Verify the Performance of the Proposed PEA 24 5.3 Spring Property Verication. 24 5.4 Force Control Verication 25 6 Conclusion and Futureworks 29
Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용