Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-=actuator in exoskeleton-type training

J.F. Veneman; R. Ekkelenkamp; R. Kruidhof; F.C.T. van der Helm; Herman van der Kooij

doi:10.1109/ICORR.2005.1501150

Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-=actuator in exoskeleton-type training

J.F. Veneman, R. Ekkelenkamp, R. Kruidhof, F.C.T. van der Helm, Herman van der Kooij

Faculty of Engineering Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

113 Citations (Scopus)

738 Downloads (Pure)

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.

Original language	Undefined
Title of host publication	Proceedings of the 2005 IEEE
Publisher	IEEE
Pages	496-499
Number of pages	4
ISBN (Print)	9780780390034
DOIs	https://doi.org/10.1109/ICORR.2005.1501150
Publication status	Published - 26 Jun 2005
Event	IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005: Frontiers of the Human-Machine Interface - Rehabilitation Institute of Chicago (RIC), Chicago, United States Duration: 28 Jun 2005 → 1 Jul 2005 Conference number: 9 http://www.smpp.northwestern.edu/ICORR2005/

Publication series

Name
Publisher	IEEE

Conference

Conference	IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Abbreviated title	ICORR
Country/Territory	United States
City	Chicago
Period	28/06/05 → 1/07/05
Internet address	http://www.smpp.northwestern.edu/ICORR2005/

Keywords

IR-52587
METIS-224219

Access to Document

10.1109/ICORR.2005.1501150

01501150

Cite this

@inproceedings{d89adad3b3f142efb259b0e1b698e8d6,

title = "Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-=actuator in exoskeleton-type training",

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.",

keywords = "IR-52587, METIS-224219",

author = "J.F. Veneman and R. Ekkelenkamp and R. Kruidhof and {van der Helm}, F.C.T. and {van der Kooij}, Herman",

year = "2005",

month = jun,

day = "26",

doi = "10.1109/ICORR.2005.1501150",

language = "Undefined",

isbn = "9780780390034",

publisher = "IEEE",

pages = "496--499",

booktitle = "Proceedings of the 2005 IEEE",

note = "null ; Conference date: 28-06-2005 Through 01-07-2005",

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}

Veneman, JF, Ekkelenkamp, R, Kruidhof, R, van der Helm, FCT & van der Kooij, H 2005, Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-=actuator in exoskeleton-type training. in Proceedings of the 2005 IEEE. IEEE, pp. 496-499, IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005, Chicago, Illinois, United States, 28/06/05. https://doi.org/10.1109/ICORR.2005.1501150

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AU - Veneman, J.F.

AU - Ekkelenkamp, R.

AU - Kruidhof, R.

AU - van der Helm, F.C.T.

AU - van der Kooij, Herman

N1 - Conference code: 9

PY - 2005/6/26

Y1 - 2005/6/26

N2 - 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.

AB - 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.

KW - IR-52587

KW - METIS-224219

U2 - 10.1109/ICORR.2005.1501150

DO - 10.1109/ICORR.2005.1501150

M3 - Conference contribution

SN - 9780780390034

SP - 496

EP - 499

BT - Proceedings of the 2005 IEEE

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Y2 - 28 June 2005 through 1 July 2005

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