Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training


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Veneman, J.F. and Ekkelenkamp, R. and Kruidhof, R. and Helm van der , F.C.T. and Kooij van der, H. (2005) Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training. In: 9th International Conference on Rehabilitation Robotics, ICORR, June 28 - July 1, 2005, Chicago, IL, USA.

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Abstract:Common actuators have important drawbacks for use in an exoskeleton type of rehabilitation (training) robot. Either the actuators are heavy, complex or poor torque sources. A new actuation system is proposed and tested that combines a lightweight joint and a simple structure with adequate torque source quality. It consists of a servomotor, a flexible Bowden cable transmission, and a force feedback loop based on a series elastic element. Measurements show that performance is sufficient for use in a gait rehabilitation robot.
Item Type:Conference or Workshop Item
Copyright:© 2005 IEEE
Faculty:
Engineering Technology (CTW)
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Link to this item:http://purl.utwente.nl/publications/52587
Official URL:http://dx.doi.org/10.1109/ICORR.2005.1501150
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