Authors:
Hasbi Kizilhan
;
Ozgur Baser
;
Ergin Kilic
and
Necati Ulusoy
Affiliation:
Suleyman Demirel University, Turkey
Keyword(s):
Exoskeleton Robots, Variable Stiffness Actuators, Controllable Transmission Ratio Type Actuators, Antagonistic Type Actuators, Pre-tension Type Actuators.
Related
Ontology
Subjects/Areas/Topics:
Human-Machine Interfaces
;
Humanoid Robots
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
Exoskeleton robots are used as assistive limbs for elderly persons, rehabilitation for paralyzed persons or
power augmentation purposes for healthy persons. The similarity of the exoskeleton robots and human body
neuro-muscular system maximizes the device performance. Human body neuro-muscular system provides a
flexible and safe movement capability with minimum energy consumption by varying the stiffness of the
human joints regularly. Similar to human body, variable stiffness actuators should be used to provide a
flexible and safe movement capability in exoskeletons. In the present day, different types of variable
stiffness actuator designs are used, and the studies on these actuators are still continuing rapidly. As
exoskeleton robots are mobile devices working with the equipment such as batteries, the motors used in the
design are expected to have minimal power requirements. In this study, antagonistic, pre-tension and
controllable transmission ratio type variable stiffness actuato
rs are compared in terms of energy efficiency
and power requirement at an optimal (medium) walking speed for ankle joint. In the case of variable
stiffness, the results show that the controllable transmission ratio type actuator compared with the
antagonistic design is more efficient in terms of energy consumption and power requirement.
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