A Unidirectional Series-Elastic Actuator Design Using a Spiral Torsion Spring

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Brian T. Knox ◽  
James P. Schmiedeler
Keyword(s):  
Position Control ◽  
Biped Robot ◽  
Legged Robots ◽  
Torsion Spring ◽  
Series Elastic Actuator ◽  
Electromechanical Actuation ◽  
Torsion Springs ◽  
Actuator Design ◽  
Rotational Direction ◽  
Series Elastic

This paper presents a novel series-elastic actuator (SEA) design that uses a spiral torsion spring to achieve drivetrain compliance in a compact and efficient mechanism. The SEA utilizes electromechanical actuation and is designed for use in the experimental biped robot KURMET for investigating dynamic maneuvers. Similar to helical torsion springs, spiral torsion springs are particularly applicable for legged robots because they preserve the rotational motion inherent in electric motors and articulated leg joints, but with less drivetrain backlash and unwanted coil interaction under load than helical torsion springs. The general spiral torsion spring design equations are presented in a form convenient for robot design, along with a detailed discussion of the mechanism surrounding the spring. Also, the SEA mechanism has a set of unidirectional hardstops that further improves the position control by allowing series-elasticity in only one rotational direction.

scholarly journals Series Elastic Actuator: Design, Analysis and Comparison

10.5772/63573 ◽  
2016 ◽  
Author(s):  
Arnaldo Gomes Leal Junior ◽  
Rafhael Milanezi de Andrade ◽  
Antonio Bento Filho
Keyword(s):  
Design Analysis ◽  
Series Elastic Actuator ◽  
Actuator Design ◽  
Series Elastic

scholarly journals A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

2019 ◽  
Author(s):  
Raghuraj J. Chauhan ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Series Elastic Actuator ◽  
Single Finger ◽  
Recent Trends ◽  
Hand Exoskeleton ◽  
Soft Actuators ◽  
Input Motion ◽  
High Level ◽  
And Control ◽  
Actuator Design ◽  
Series Elastic

Abstract This paper presents the design of a series elastic actuator and a higher level controller for said actuator to assist the motion of a user’s hand in a linkage based hand exoskeleton. While recent trends in the development of exoskeleton gloves has been to exploit the advantages of soft actuators, their size and power requirements limit their adoption. On the other hand, a series elastic actuator can provide compliant assistance to the wearer while remaining compact and lightweight. Furthermore, the linkage based mechanism integrated with the SEA offers repeatability and accuracy to the hand exoskeleton. By measuring the user’s motion intention through compression of the elastic elements in the actuator, a virtual dynamic system can be utilized that assists the users in performing the desired motion while ensuring the motion stability of the overall system. This work describes the detailed design of the actuator followed by performance tests using a simple PD controller on the integrated robotic exoskeleton prototype. The performance of the proposed high level controller is tested using the integrated exoskeleton glove mechanism for a single finger, using two types of input motion. Preliminary results are discussed as well as plans for integrating the proposed actuator and high level controller into a complete hand exoskeleton prototype to perform intelligent grasping.

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