Pubblicazioni

Autori:

Toxiri, Stefano; Calanca, Andrea; Ortiz, Jesus; Fiorini, Paolo; Caldwell, Darwin G.

Titolo:

A Parallel-Elastic Actuator for a Torque-Controlled Back-Support Exoskeleton

Anno:

2018

Tipologia prodotto:

Articolo in Rivista

Tipologia ANVUR:

Articolo su rivista

Lingua:

Inglese

Formato:

Elettronico

Referee:

Sì

Nome rivista:

IEEE ROBOTICS AND AUTOMATION LETTERS

ISSN Rivista:

2377-3766

N° Volume:

3

Numero o Fascicolo:

1

Intervallo pagine:

492-499

Parole chiave:

Exoskeletons, Force Control, Parallel elastic Actuators

Breve descrizione dei contenuti:

An actuated back-support exoskeleton to assist manual handling is presented. Its objective is to provide a significant portion of the forces necessary to carry out the physical task, thereby reducing the compressive loads on the lumbar spine and the associated risk of injury. The design rationale for a parallel-elastic actuator (PEA) is proposed to match the asymmetrical torque requirements associated to the target task. The parallel spring relaxes the maximum motor torque requirements, with substantial effects on the resulting torque-control performance. A formal analysis and experimen- tal evaluation is presented with the goal of documenting the improvement in performance. To this end, the proposed PEA is compared with a more traditional configuration without the parallel spring. The analytical and experimental results highlight the importance of the motor inertia reflected through the gearbox, and indicate two- to six-fold improvements in the proposed measures of torque-control performance.

Id prodotto:

101676

Handle IRIS:

11562/976144

ultima modifica:

11 novembre 2022

Citazione bibliografica:

Toxiri, Stefano; Calanca, Andrea; Ortiz, Jesus; Fiorini, Paolo; Caldwell, Darwin G., A Parallel-Elastic Actuator for a Torque-Controlled Back-Support Exoskeleton «IEEE ROBOTICS AND AUTOMATION LETTERS» , vol. 3 , n. 1 , 2018 , pp. 492-499

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