Paper Info
Title
Design and Validation of an Asymmetric Bowden-Cable-Driven Series Elastic Actuator.
Abstract
Weight, size and torque control for hand exoskeleton robots are challenging due to lack of small and compact bidirectional torque actuators. In this paper, an asymmetric Bowden-cable-driven series elastic actuator (ABLE-SEA) for hand exoskeleton robots was proposed based on the fact that the required torques for finger movements are asymmetric. Compared to series elastic actuator and transmission system that were designed separately, the elastic elements of ABLESEA were placed in transmission parts to connect series elastic actuator with transmission system, which makes system compact. ABLE-SEA is 71 mm × 19.5mm × 20mm in dimension and weighs 30g except motor which is placed remotely. The dynamic model of ABLE-SEA was established, and feedback proportional-derivative (PD) control plus a feed-forward term was used to track the reference torque for the ABLE-SEA. The reference torque tracking test at different frequencies was performed at the developed prototype. Meanwhile, the peak torque of ABLE-SEA was tested. The experimental results verified that the torque bandwidth of the proposed series elastic actuator could reach 4Hz, and the peak torque of ABLE-SEA could reach 0.3Nm, which meet the design requirement.
Year
DOI
Venue
2019
10.1109/ROBIO49542.2019.8961703
ROBIO
Field
DocType
Citations 
Transmission (mechanics),Torque,Control theory,Bowden cable,Bandwidth (signal processing),Exoskeleton,Transmission system,Engineering,Robot,Actuator
Conference
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Ning Sun100.34
Long Cheng2149273.97
Lin Tian300.34
Zeng-Guang Hou42293167.18
Min Tan52342201.12