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Linear series elastic actuator for powered knee orthosis

 
: Shysh, Myroslav; Mrech, Tarik; Schmucker, Ulrich; Telesh, Andriy

:
Volltext urn:nbn:de:0011-n-5073077 (527 KByte PDF)
MD5 Fingerprint: 625a8319e88babdd9c5d3d6caa31a0ac
Erstellt am: 7.9.2018


Silva, M.F.:
Human-Centric Robotics. 20th International Conference on CLAWAR 2017. Proceedings : 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 11-13 September 2017, Porto, Portugal
World Scientific, 2018
ISBN: 978-981-323-103-0 (Print)
ISBN: 978-981-323-105-4
ISBN: 978-981-323-104-7
S.21-28
International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR) <20, 2017, Porto>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IFF ()

Abstract
In the growing field of powered orthotics, wearable and rehabilitation robotics the compact effective actuators remain one of the objects of numerous research and elaboration. This paper presents design and control strategies of an actuator developed for the therapeutic purposes and assistance during rehabilitation. This pilot version of an actuator consists of electrical drive, ball-screw, force and position sensing and control electronics. This paper as well describes construction and operation principle of a force measurement unit with an elastic element. Based on the developed electromechanical system we perform a force control and conduct a research on the orthosis positioning with specified impedance.

: http://publica.fraunhofer.de/dokumente/N-507307.html