지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,030 - 1,034 (5page)
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초록· 키워드
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Recently, walking assistance robots are receiving a great attention according to the increase of elderly population. Such systems are required to generate precise and large assistive torques to effectively assist human motions. Moreover, the assistive robots should be light and compact for the comfort and safety issues. In this paper we designed full lower extremity assistive robot with compact rotary series elastic actuators(cRSEAs) that are designed considering these factors. A worm gear is installed to amplify the motor torque in the limited space. Also, to generate assistive torque as desired, a torsional spring is used between the motor and the human joint. The device generates large assistive torques by utilizing worm gear, but the large friction introduced by the worm gear makes the controller design challenging. In this paper, a feedback control algorithm is proposed to compensate for such undesired disturbances. The proposed method is verified by experiments.
목차
Abstract
1. INTRODUCTION
2. HARDWARE CONFIGURATION
3. CONTROLLER DESIGN OF COMPACT ROTARY SERIES ELASTIC ACTUATOR
4. PERFORMANCE ANALYSIS BY EXPERIMENTS
5. CONCLUSION
REFERENCES
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