Abstract
Parallel-elastic actuators (PEA) can provide efficiency advantages. In current designs clutches can fix or release the neutral position of the elasticity. The presented actuator combines a direct actuator with a serial-elastic actuator (SEA) in parallel. In addition to the efficiency advantages of a PEA, both actuators can also actively cooperate or actively control the neutral position of the elasticity. On the test bench, the prototype is operated as a PEA with a load similar to the hip during gait, whereby a reduction in peak power of 19 % is found. Furthermore the SEA can support 31 % of the torque during a task similar to sit-to-stand.
Zusammenfassung
Parallel-elastische Aktuatoren (PEA) können Effizienzvorteile bringen. In aktuellen Konstruktionen kann höchstens die Neutrallage der Elastizität mit Kupplungen festgelegt oder gelöst werden. Der vorgestellte Aktuator kombiniert einen starren und einen seriell-elastischen Aktuator (SEA) durch eine parallele Verschaltung. Neben den Effizienzvorteilen eines PEA können zudem beide Antriebe aktiv kooperieren oder die Nulllage der Elastizität aktiv bestimmen. Am Prüfstand wird der Prototyp als PEA mit einer Last ähnlich der Hüfte beim Gang betrieben, wobei eine Verringerung der Maximalleistung von 19 % festgestellt wird. Bei einer mit dem Aufstehvorgang vergleichbaren Last kann der SEA 31 % des gesamten Drehmoments übernehmen.
Funding source: Deutsche Forschungsgemeinschaft
Award Identifier / Grant number: LE 817/34-1
Funding source: National Natural Science Foundation of China
Award Identifier / Grant number: 51761135121
Funding statement: This research was funded by the joint DFG-NSFC project “Hybrid parallel compliant actuation for lower limb rehabilitation – HYPACAL” (LE 817/34-1) (NSFC 51761135121).
About the authors
Bernhard Penzlin received his Dipl.-Ing. degree in mechatronics from the Otto-von-Guericke University in Magdeburg, Germany, in 2012. From 2012 to 2014 he was a research associate at the chair for Mechatronics, Institute for Mobile Systems at OVGU Magdeburg University, Germany. Since 2014 he has been working at the Medical Information Technology at RWTH Aachen University, Germany, and pursues the Ph.D. degree. His major research interests are rehabilitation robotics, exoskeletons, compliant actuators, mechatronic systems.
Anja Leipnitz received her Master of Science degree in electrical engineering, information technology and computer engineering from the RWTH Aachen University, Germany, in 2019. Her major research interests are robotics, exoskeletons, mechatronic and sensor systems.
Lukas Bergmann received a bachelor’s and master’s degree in electrical engineering with a focus on systems and automation from RWTH Aachen University, Germany, in 2015 and 2018, respectively. Since 2019 he has been working as a Ph.D. candidate in the Biomechanical Motion Research Group at Medical Information Technology, RWTH Aachen University. His major research interests are rehabilitation robotics, control engineering, exoskeletons, compliant actuators and mechatronic systems.
Yinbo Li was born in Jingzhou, Hubei, China in 1994. He received a B.S. degree in mechanical engineering from Chongqing University, Chongqing, China, in 2016. He was a visiting scholar in the Philips endowed Chair for Medical Information Technology at RWTH Aachen University, Aachen, Germany, during May-November, 2019. He is currently pursuing the Ph.D. degree in mechanical engineering at Tsinghua University, Beijing, China. His research interests include the development of rehabilitation robotics such as the powered lower limb exoskeletons for paraplegic patients, human-robot interaction, compliant actuators such as the parallel/series elastic actuators and clutched actuators, 3D modeling and dynamic modeling of complex mechanical systems.
Linhong Ji was born in Yichang, Hubei, China, in 1962. He received a B.S. and M.S. degree in mechanical engineering from Tsinghua University, Beijing, China in 1985 and 1988, respectively. Then, he was granted a Dr. degree in precision engineering from the University of Tokyo, Tokyo, Japan in 1996. At Tsinghua University, from 1996 to 2003, he was Associate Professor & Head of Institute of Design Engineering and since 2004, he has been appointed Full Professor & Academic Leader for Bio-mechanical Technology. He devoted much of his life researching on rehabilitation engineering for paraplegic patients, hemiplegic patients and the disabled. He has broad research areas mainly including bionic machinery, human motion system modeling, motion coordination mechanism, rehabilitation robotics, intelligent rehabilitation technologies, human-robot interaction, brain-computer interface, human potential evaluation based on EEG, neuro-modulation and technologies assisting the aged and disabled and commercialization. He has published over 200 Academic papers, including 60 in SCI and 90 in EI and he was granted about 75 patents. Dr. Ji plays many important roles in the Chinese rehabilitation field. Now he is an executive director of Rehabilitation Engineering Chapter, China Association of Assistive Products and an executive Director of Rehabilitation Engineering Chapter, China Society of Biomedical Engineering and so on.
Steffen Leonhardt received the M.S. in computer engineering from SUNY at Buffalo, Buffalo, USA, in 1987, the Dipl.-Ing. and the Dr.-Ing. degree in electrical engineering (major in control) from TU Darmstadt, Germany in 1989 and 1995, respectively, and the M.D. from J.W. von Goethe University Frankfurt, Germany, in 2000. From 1999–2003, he has been an R&D manager at Dräger Medical AG & Co KGaA, Lübeck, Germany. Since 2003, he holds the Philips endowed Chair for Medical Information Technology at RWTH Aachen University, Aachen, Germany.
Chuong Ngo received the Master Degree in Electrical Engineering and Information Technology at Ruhr University Bochum in 2011 and worked as a software developer for ABB Germany in 2012. In 2019, he received the PhD in Medical Information Technology at RWTH Aachen University. Since 2018, he has been the head of the Biomechanical Motion Research Group, Medical Information Technology at the RWTH Aachen. His main research fields are respiratory modeling and diagnostics, rehabilitation robotics, control strategies, and movement analysis.
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