Unified approach to bi-directional non-back drivable roller clutch design

Controzzi, Marco; Luciani, L. Bassi; Montagnani, Federico

doi:10.1016/j.mechmachtheory.2017.06.010

Cited by 16 publications

(12 citation statements)

References 12 publications

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“…For the number of wedges, it is possible to follow M. Controzzi's research (Controzzi et al, 2017) by placing more wedges through dimensional optimization, further enhancing the self-locking performance. In terms of the idle angle, it only exists on the motor side, but not on the load side, which is to say, if the motor moves, it has to offset an idle angle before it starts to drive the load.…”

Section: Discussionmentioning

confidence: 99%

Non-back-drivable clutch based self-locking mechanism of prosthetic joint to improve manipulation stability

Liu,

Luo,

Xiao

et al. 2024

Front. Bioeng. Biotechnol.

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During activities of daily living (ADLs), the wrist is mainly engaged in positioning and directing the hand. Researches have demonstrated that restoring wrist mobility can significantly enhance the manipulation ability, reduce body distortion caused by motion compensation, and improve the quality of life for amputees. However, most daily activities, particularly the delicate ones, place high demands on the ability of wrist to maintain a certain rotation angle, also known as non-back-drivable ability, which poses a challenge to the design of prosthetic wrists. To address this issue, various solutions have been proposed, including motor holding brakes, high reduction ratio reducers, and worm gears. However, the motor holding brake only functions after a power outage and cannot continuously prevent torque from the load end. The latter two solutions may alter the transmission ratio, resulting in reduced movement speed and transmission efficiency. Therefore, how to design a miniaturized non-back-drivable mechanism without changing the transmission ratio so that the forearm rotational freedom can be locked at any position for any duration is a problem to be solved in the research of prosthetic wrist designs. This paper presents a line-contact based non-back-drivable clutch (NBDC) that does not cause changes in the transmission ratio, ensuring the motion performance of the prosthetic limb. At the same time, it does not introduce additional friction in the forward transmission process, guaranteeing the overall efficiency. Most importantly, it only allows the torque transmitting from the motor to the load, prevents the load reversely from driving back even in a power failure condition, significantly improving the stability, safety, and comfort. Detailed kinematic and static analyses of the working process has been conducted, and transient dynamics simulation has been performed to verify its effectiveness. Through experiments, it is demonstrated that the self-locking torque of the output end could reach approximately 600 Nmm, and the unlocking torque of the input end is about 80 Nmm, which can be effectively integrated in prosthetic wrist rotation joints, contributing to the performance, safety and energy saving of prosthetic joint systems.

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Section: Discussionmentioning

confidence: 99%

Non-back-drivable clutch based self-locking mechanism of prosthetic joint to improve manipulation stability

Liu,

Luo,

Xiao

et al. 2024

Front. Bioeng. Biotechnol.

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“…In future iterations of the device, we will consider replacing the locking steps with a continuous surface to implement the unidirectional locking mechanism. A possible implementation may exploit the wedging effect, as already extensively explored by the authors [41].…”

Section: Discussionmentioning

confidence: 99%

A 2-Degree-of-Freedom Quasi-Passive Prosthetic Wrist With Two Levels of Compliance

Cappello

Accolti

Gherardini

et al. 2023

IEEE Robot. Autom. Lett.

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Restoring the function of a missing hand is still a grand challenge for bioengineers. We witnessed significant recent advances in the development of myoelectric hand prostheses and their controllers. Conversely, the wrist joint is generally overlooked in prosthetics, despite playing a fundamental role in orienting the hand in space. Indeed, it may account for several degrees of freedom of the hand in reducing compensatory movements. We acknowledge that an active, three-degree-offreedom prosthetic wrist is not a viable option for a self-contained prosthesis, therefore we merged in one design two opposed passive behaviors. The proposed wrist can automatically transition between a compliant mode, which exhibits relatively low stiffness allowing for passive motions around two rotational axes (wrist flexion/extension and radial/ulnar deviation), and a stiff mode, which grants stability during manipulation. To switch mode, no additional control input -hence cognitive burden -from the user is needed: it occurs synchronously with the prosthetic hand opening and closing motion, such that the wrist is compliant during reaching and stiff during manipulation. Our device proved reliable on the test bench and useful in a pilot test with an amputee volunteer, motivating further developments and more extensive testing to prove its effectiveness.

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“…Created many years ago freewheel clutches, based on friction torque transfer principle have well studied disadvantages. Despite of that, such constructions are still using in modern engineering, particularly in vehicles [4][5][6][7]. Safety-overrunning clutches usually built on its basis by sequential joining of safety clutch [8].…”

Section: Analysis Of Recent Research and Publicationsmentioning

confidence: 99%

Load capacity and design parameters of ball-type safety-overrunning clutch with inclined grooves sides

Protsenko¹,

Malashchenko²,

Kłysz³

et al. 2022

Diagnostyka

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Article deals with safety-overrunning clutches for mechanical transmissions. Modern design of safetyoverrunning clutch with grooves sides inclined to semi-coupling radius has been described and researched in the article. It has practical value for creation modular-type machines. On the basis of the theoretic studies, the expressions for obtaining the main specific operation parameters have been proposed: rating torque, beginning and ending operation torques. As the result of the studies, the equations for estimation the clutch main operation characteristics have been received -rating torque exceeding coefficient, coefficients of clutch accuracy and sensitivity. On account of modeling and comparison with clutch where grooves sides are parallel to the radius made a number of important conclusions. The analysis performed demonstrates that clutches with inclined to radius grooves sides in general have higher operation characteristics compared with clutches with parallel to radius grooves sides, particularly higher accuracy coefficient and lower rating torque exceeding coefficient. Obtained results make it possible to recommend for highly loaded large-mass systems clutches with low values of grooves to clutch axe and grooves sides to radius inclination angles, because it provides balls contact with plane sides grooves surfaces and through this allows to decrease contact stresses compared with clutches with grooves sides parallel to radius; allows to provide high load capacity with low rating torque exceeding in overload mode; in clutches with inclined to radius grooves sides friction impact manifests less in operation with high rotation frequency.

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Unified approach to bi-directional non-back drivable roller clutch design

Cited by 16 publications

References 12 publications

Non-back-drivable clutch based self-locking mechanism of prosthetic joint to improve manipulation stability

Non-back-drivable clutch based self-locking mechanism of prosthetic joint to improve manipulation stability

A 2-Degree-of-Freedom Quasi-Passive Prosthetic Wrist With Two Levels of Compliance

Load capacity and design parameters of ball-type safety-overrunning clutch with inclined grooves sides

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