Development of a torque limiter for the gear of an assistive walking device

Abstract

Wearable assistive devices have been receiving considerable attention in academic circles. To make these devices efficient, we need additional research on the service lives of the mechanical elements used in these devices. The wearers of these devices frequently encounter unexpected movements that lead to motor failure in the devices. The purpose of this study is to develop an overload protection mechanism using a torque limiter, which can eliminate the overload torque delivered in the reverse direction to effectively prevent the device from breaking and ensure the safety of the user. To improve the service life of assistive walking devices, we designed a sandwich mechanism for the final gear of the servo motor. We made the material from rubber and configured it between a pair of circular plates. The surface tractive force delivered the required torque. When the surface load exceeded the maximum friction force, the circular plates slipped and protected the device. In this paper, we implement a torque limiter and prove its durability by performing experiments using two circular plate designs, one with grooves type and another without grooves type. We also use various materials to assess the applicability of the assistive walking device. The findings indicate that the with grooves type gives better torque performance; it achieves the same rated torque as the servo motor. Thus, this study recommends that with grooves type is particularly suitable for the elderly who require high assistive power. On the other hand, without grooves type is suitable for users who employ the device for extended periods because this type has an excellent service life. Our experiment proves that the torque limiter that we developed can withstand the load torque over 300 times for situations involving the loss of balance such as stumbling and slipping. Finally, we experimentally validate the improvement of walking performance by using this torque limiter. investigated ways for supporting the elderly and people with disabilities by using an exoskeleton to walk, climb stairs, and carry things around. Saglia et al. (2009) used a rehabilitation robot to enable the ankle to perform plantar/dorsiflexion and inversion/eversion by using a parallel mechanism. Sankai (2010) developed an assistive device for people who suffered from muscular weakness. ReWalk TM (Esquenazi, 2012) aimed to help people who suffered from serious spinal cord injuries to regain their activities of daily living. Sanz-Merodio et al. (2014) developed lower-limb exoskeletons that helped paralyzed children walk. The tibialis anterior muscle is the muscle that is most prone to fatigue during human walking. Consequently, we have developed various assistive devices that focus on assisting the ankle joint during the walking movement. Using our designed aid devices designed, the equipped foot can be raised automatically through the neural pathway of human stretch reflex. Our findings confirmed that our device could effectively improve the gait of the user (Tanaka et al., 2015a(Tanak...

Study of a Torque Limiter Based on NiTi Pseudoelastic Tapes

“…They are used in many engineering applications, such as aeronautical, [20] robotics, [21][22][23] and biomechanics. [24] They work under different operating principles among which the most used are the magnetic and the mechanical friction.…”