Design of a New Variable Stiffness Actuator and Application for Assistive exercise control.pdf
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Design of a New Variable Stiffness Actuator and Application for Assistive exercise control
Abstract—Focusing on the physical interaction between
people and machines within safety constraints in versatile
situations, this paper proposes a new, efficient actuation
approach, continuous-state coupled elastic actuation (CCEA), to
provide oncoming human-machine systems with an intrinsic
programmable stiffness capacity to shape output force
corresponding to the deviation between human motions and set
positions of the system. As one of all the possible CCEA systems,
a prototype of a 2-DOF coupled elastic actuator is designed to
provide a compromise between performance and safety. Using
a pair of antagonistic four-bar linkages, the inherent stiffness of
the system can be adjusted dynamically. Compared to the
state-of-the-art variable stiffness actuators, the CCEA system is
unique in that it can achieve near zero mechanical stiffness in an
efficient way. In addition, a human-robot interaction model is
built to investigate the controlled bandwidth and safety of the
CCEA system. For the application of assistive exercises, this
study also proposes two kinds of controls for assistive exercises.
Finally, a CCEA exoskeleton is built for elbow rehabilitation.
Both simulations and experiments are conducted to show some
desired properties of the proposed CCEA system.
I. INTRODUCTION
hysical human-robot interaction (pHRI), considering the
trade-off between safety and performance, emerges from
modern robotics as a focused effort to design robots that are
intrinsically safe for human interaction [1]. In particular,
several distinguished imperative expectations in the field of
pHRI are arising to satisfy long-term requirements and to
solve anticipated problems, such as the development of robots
as mechanical workers or servers to support human labor or to
assist disabled humans with daily activities under labor
shortages and longevity problems.
To achieve safety and efficiency, one must employ
manifold strategies involving all aspects
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