A series elastic composite actuator for soft arm exosuits

Cappello, Leonardo; Pirrera, Alberto; Masia, Lorenzo

doi:10.1109/icorr.2015.7281176

Cited by 22 publications

(8 citation statements)

References 14 publications

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“…Nevertheless, this is true only for motor-MCT arrangement shown in this paper and could be overcome by adding an extra small motor. Indeed, we are working in this direction: to design a multistable SEA where stiffness and end-effector position can be controlled independently, such as in a VSEA, but with the advantages of multistability [20].…”

Section: Discussionmentioning

confidence: 99%

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Multistable series elastic actuators: Design and control

Cappello

Xiloyannis

Dinh

et al. 2019

Robotics and Autonomous Systems

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In this paper we propose a novel actuation concept, consisting of a conventional DC motor in series with a compliant element having multiple configurations of equilibrium. The proposed device works similarly to a traditional series elastic actuator, where the elasticity increases safety and force control accuracy, but presents the possibility of achieving higher efficiency and releasing energy at a higher bandwidth. An introduction on the mechanical properties of the multistable element explains its working principle and provides simple model-based guidelines to its design. We characterize the actuator and propose a robust algorithm to control both storage and rate of release of its elastic energy. Using only an incremental encoder on the motor's axis, we show that we can reliably control the position of the actuator and its convergence towards a state of stable equilibrium. The proposed robust control architecture sensibly improves the tracking accuracy with respect to conventional PID controllers. Once reconfigured, no additional energy from the motor is required to hold the position, making the actuator appealing for energy-efficient systems. We conclude with a discussion on the limitations and advantages of such technology, suggesting avenues for its application in the field of assistive robotics.

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Section: Discussionmentioning

confidence: 99%

“…In [19], Lachenal and colleagues proposed a bistable structure consisting of two pre-stressed carbon flanges, coupled by aluminium spokes in a double helix-like configuration. The device is capable of large deformations and can transmit forces within the range of human muscles, making it suitable for wearable robotic applications [20].…”

Section: Introductionmentioning

confidence: 99%

Multistable series elastic actuators: Design and control

Cappello

Xiloyannis

Dinh

et al. 2019

Robotics and Autonomous Systems

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“…For soft exosuit applications, series elastic actuators provide a stable means of force and impedance control given the intrinsic compliance of Bowden cable transmissions and textiles-based robotuser interface points. Series elastic actuation has previously been combined with cable-conduit actuators in rigid robotic devices [13], [14] and recently some designs by Cappello et al for a non-linear SEA for an elbow exosuit have been proposed but not fully validated [15].…”

Section: Introductionmentioning

confidence: 99%

A cable-based series elastic actuator with conduit sensor for wearable exoskeletons

Blumenschein

McDonald

O’Malley

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-There is currently a scarcity of wearable robotic devices that can practically provide physical assistance in a range of real world activities. Soft wearable exoskeletons, or exosuits, have the potential to be more portable and less restrictive than their rigid counterparts. In this paper, we present the design of an actuation system that has been optimized for use in a soft exosuit for the human arm. The selected design comprises a DC motor and gearbox, a flexible cable conduit transmission, and a custom series elastic force sensor. Placed in series with the transmission conduit, the custom compliant force sensor consists of a translational steel compression spring with a pair of Hall effect sensors for measuring deflection. The custom sensor is validated as an accurate means of measuring cable tension, and it is shown that it can be used in feedback to control the cable tension with high bandwidth. The dynamic effect of the cable-conduit transmission on the force felt at the user interface is characterized by backdriving the system as it renders a range of virtual impedances to the user. We conclude with recommendations for the integration of such an actuation system into a full wearable exosuit.

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“…Our study has mostly focused on testing with a virtual avatar, which could be more practical for applications involving tele-manipulation, but does not provide a realistic scenario for an exoskeleton application. The exosuit in development at the lab currently only provides assistance for elbow flexion/extension motion with planned progress towards including shoulder joint actuation [191,192]. In future we would like to incorporate our decoding strategy in the soft wearable exosuit with capability to incorporate simultaneous decoding of shoulder and elbow motions.…”

Section: Future Workmentioning

confidence: 99%

Decoding human motion intention using myoelectric signals for assistive technologies

Antuvan¹

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A series elastic composite actuator for soft arm exosuits

Cited by 22 publications

References 14 publications

Multistable series elastic actuators: Design and control

Multistable series elastic actuators: Design and control

A cable-based series elastic actuator with conduit sensor for wearable exoskeletons

Decoding human motion intention using myoelectric signals for assistive technologies

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