FlexCVA: A Continuously Variable Actuator for Active Orthotics

Horst,; Marcús,

doi:10.1109/iembs.2006.4397934

Cited by 4 publications

(6 citation statements)

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“…6(a)), which requiring actuators similar to human muscle function. 100 The actuator must not only provide a high torque to unload the muscle strength but also to fit under the clothes and be easy to carry. It has the advantages of high efficiency, free movement, large torque, small weight and large size.…”

Section: 41mentioning

confidence: 99%

“…Motors 47,50,54,58,59 Easy position control Overweight 64,68,69,100,103,104,106,108,112 High torque; Small noise Battery low endurance Soft Pneumatic actuators 49,52 Light weight; Good compliance Air generator limited 61,63,102 Difficult position control Electromagnetic Low output impedance; High Low response speed actuators 55,57,105 back-drivability Battery low endurance High fidelity force control; Capability of energy storage size, weight, and output torque are sufficient the computer to complete and memorize the assisting action. HAL combined with normal physical therapy can significantly improve the gait of patients with TKA.…”

Section: Type Advantages Disadvantagesmentioning

confidence: 99%

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Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review

et al. 2021

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SUMMARY It was reported that about 10% of people suffer from painful knee arthritis, and a quarter of them were severely disabled. The core activities of daily living were severely limited by knee osteoarthritis (KOA). In order to reduce knee pain and prolong the life of the knee joint, there has been an increasing demand on the development of exoskeletons, for prevention and treatment. The course of KOA was closely related to the biomechanics of knee joint, and the pathogenesis was summarized based on the biomechanics of knee joint. For the prevention and clinical treatment, exoskeletons are classified into three categories: prevention, treatment, and rehabilitation after the operation. Furthermore, the design concepts, actuators, sensors, control strategies, and evaluation criteria were presented. Finally, the shortcomings and limitations were summarized. It is useful for researchers to develop suitable exoskeletons in the future.

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Section: 41mentioning

confidence: 99%

Section: Type Advantages Disadvantagesmentioning

confidence: 99%

Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review

et al. 2021

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“…The Tibion PK100 is well known as a commercial exoskeleton robot that supports the knee joint [8, 9]. Its operation method is motor control by changing the gear ratio.…”

Section: Control Algorithm and Experimentsmentioning

confidence: 99%

“…Previous research on knee joint exoskeletons include an EMG-based knee exoskeleton from Berlin University [5] and a spring-attached knee exoskeleton from MIT [6, 7], among others. Tibion (Bionic Leg), developed by AlterG, has been commercialized and many patients have used it [8, 9]. Except for Tibion, knee exoskeletons have had limited commercialization due to their heaviness and low performance.…”

Section: Introductionmentioning

confidence: 99%

Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors

Kim

Shim

Ahn

et al. 2015

International Journal of Advanced Robotic Systems

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This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a four-bar linkage and to minimize its total weight. In order to determine the user's intention, force-sensitive resistors (FSRs) in the user's insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing walking and sitting motion controls while wearing the knee exoskeleton.

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“…While much work has been done [38,39,40,41,42] to improve the performance of such actuators, intrinsic limitations of such a setup remains. ator [2], shown in Figure 2.2, and the Flex Continuously Variable Actuator (FlexCVA) [53], both of which are rotary series elastic actuators, with the former being a very compact compliant actuator with a limited range of compliance while the latter uses two parallel compliant mechanisms for an unlimited range of compliance.…”

Section: Design Of Variable Impedance Actuatorsmentioning

confidence: 99%

Design, modelling and characterisation of a magnetic variable stiffness mechanism

Lim¹

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E Prototype Torque Profile Comparisons 439References 439LIST OF FIGURES 3.32 Ring of Magnets geometry for number of ring magnets n = 4.The solid curves represents the rotor and ring magnets, while the dashed curves represents the space needed for each magnet to maintain the desired gap δ between all magnets, with radii δ 2 larger than their solid counterparts. r rtr is the radius of the rotor magnet, and r rng is the radius of the ring magnets. . . . 3.33Top view of the geometry of the ring of magnets simulation setup, with ring magnets labelled for the Diametrical or Halbach magnetisation configurations. The direction of magnetisation of the materials for the "Halves" configuration are defined in Table 3.8. Magnetisation directions are illustrated for ψ = 25 • , φ = 80 • . The magnets belonging to the virtual "north pole" and "south pole" are drawn in red and blue respectively.3.34 Top view of the geometry of the ring of magnets simulation setup, with ring magnets labelled for the Radial magnetisation configuration. The direction of magnetisation of the materials for the "Halves" configuration are defined in Table 3.8. Magnetisation directions are illustrated for ψ = 25 • , φ = 80 • .LIST OF FIGURES 3.48 Torque profiles generated by the Halves Halbach-Radial magnetisation setup for ψ = 0 rad for the ring of magnets simulation model.

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FlexCVA: A Continuously Variable Actuator for Active Orthotics

Cited by 4 publications

References 0 publications

Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review

Different Prevention and Treatment Strategies for Knee Osteoarthritis (KOA) with Various Lower Limb Exoskeletons – A Comprehensive Review

Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors

Design, modelling and characterisation of a magnetic variable stiffness mechanism

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