A series elastic composite actuator for soft arm exosuits

Leonardo Cappello, Alberto Pirrera, Paul M Weaver, Lorenzo Masia

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

13 Citations (Scopus)
491 Downloads (Pure)

Abstract

The paper introduces a novel type of actuator for soft wearable exoskeletons providing assistance to the elbow joint motion. The mechanism consists of two DC motors, a multistable composite transmission which introduces series elastic properties, a high-efficiency non-backdrivable mechanism and a pair of Bowden cables to transmit the motion from the actuator to the joint. A test bench has been designed to experimentally characterize the performance of the proposed device. The control architecture is then introduced and described. The results of preliminary tests are shown and discussed. In conclusion, future developments and a embodiment of the envisioned application are introduced.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Rehabilitation Robotics (ICORR 2015)
Subtitle of host publicationProceedings of a meeting held 11-14 August 2015, Singapore
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages61-66
Number of pages6
ISBN (Electronic)9781479918072
ISBN (Print)9781479918096
DOIs
Publication statusPublished - 28 Sep 2015
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: 11 Aug 201514 Aug 2015

Publication series

NameProceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)1945-7898

Conference

Conference14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
CountrySingapore
CitySingapore
Period11/08/1514/08/15

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