Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Position Sensing and Control with FMG Sensors for Exoskeleton Physical Assistance Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Actuation Requirements for Assistive Exoskeletons: Exploiting Knowledge of Task Dynamics

Authors : Stefano Toxiri, Andrea Calanca, Tommaso Poliero, Darwin G. Caldwell, Jesús Ortiz

Published in: Wearable Robotics: Challenges and Trends

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

When selecting actuators for assistive exoskeletons, designers face contrasting requirements. Overdimensioned actuators have drawbacks that compromise their effectiveness in the target application (e.g. performance, weight, comfort). In some cases, the requirements on the powered actuator can be relaxed exploiting the contribution of an elastic element acting in mechanical parallel. This contribution considers one such case and describes an approach to fit the actuation requirements closely to the task dynamics, thereby mitigating the drawbacks of overdimensioned actuators.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter EUROBENCH: Preparing Robots for the Real World
next chapter Grasping Detection with Force Sensor Embedded in a Hand Exoskeleton
Literature
1.
Toxiri, S., Koopman, A.S., Lazzaroni, M., Ortiz, J., Power, V., de Looze, M.P., O’Sullivan, L., Caldwell, D.G.: Rationale, implementation and evaluation of assistive strategies for an active back-support exoskeleton. Front. Robot. AI 5(53) (2018)
2.
Chen, B., Grazi, L., Lanotte, F., Vitiello, N., Crea, S.: A real-time lift detection strategy for a hip exoskeleton. Front. Neurorobotics 12(April), 1–11 (2018)
3.
Kong, K., Bae, J., Tomizuka, M.: A compact rotary series elastic actuator for human assistive systems. IEEE/ASME Trans. Mechatron. 17(2), 288–297 (2012)CrossRef
4.
Verstraten, T., Mathijssen, G., Furnémont, R., Vanderborght, B., Lefeber, D.: Modeling and design of geared DC motors for energy efficiency: comparison between theory and experiments. Mechatronics 30, 198–213 (2015)CrossRef
5.
Toxiri, S., Calanca, A., Ortiz, J., Fiorini, P., Caldwell, D.G.: A parallel-elastic actuator for a torque-controlled back-support exoskeleton. IEEE Robot. Autom. Lett. 3(1), 492–499 (2018)CrossRef
6.
Wang, S., Van Dijk, W., Van Der Kooij, H.: Spring uses in exoskeleton actuation design. In: IEEE International Conference on Rehabilitation Robotics, pp. 0–5 (2011)
7.
Beckerle, P., Verstraten, T., Mathijssen, G., Furnemont, R., Vanderborght, B., Lefeber, D.: Series and parallel elastic actuation: influence of operating positions on design and control. IEEE/ASME Trans. Mechatron. 22(1), 521–529 (2017)CrossRef
8.
Jimenez-Fabian, R., Geeroms, J., Flynn, L., Vanderborght, B., Lefeber, D.: Reduction of the torque requirements of an active ankle prosthesis using a parallel spring. Robot. Auton. Syst. 92, 187–196 (2017)CrossRef
9.
Ortiz, J., Poliero, T., Cairoli, G., Graf, E., Caldwell, D.G.: Energy efficiency analysis and design optimization of an actuation system in a soft modular lower limb exoskeleton. IEEE Robot. Autom. Lett. 3(1), 484–491 (2018)CrossRef
10.
Toxiri, S., Ortiz, J., Masood, J., Fernandez, J., Mateos, L.A., Caldwell, D.G.: A wearable device for reducing spinal loads during lifting tasks: biomechanics and design concepts. In: International Conference on Robotics and Biomimetics, pp. 2295–2300 (2015)
11.
De Looze, M.P., Kingma, I., Thunnissen, W., Van Wijk, M.J., Toussaint, H.M.: The evaluation of a practical biomechanical model estimating lumbar moments in occupational activities. Ergonomics 37(9), 1495–1502 (1994)CrossRef
12.
Verstraten, T., Geeroms, J., Mathijssen, G., Convens, B., Vanderborght, B., Lefeber, D.: Optimizing the power and energy consumption of powered prosthetic ankles with series and parallel elasticity. Mech. Mach. Theory 116, 419–432 (2017)CrossRef
Metadata
Title
Actuation Requirements for Assistive Exoskeletons: Exploiting Knowledge of Task Dynamics
Authors
Stefano Toxiri
Andrea Calanca
Tommaso Poliero
Darwin G. Caldwell
Jesús Ortiz
Copyright Year
2019
Book
Wearable Robotics: Challenges and Trends

Print ISBN: 978-3-030-01886-3

Electronic ISBN: 978-3-030-01887-0

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-030-01887-0_73