Realizing soft high torque actuators for complete assistance wearable robots

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

Abstract

Wearable robots enhance the ability of their wearers to physically interact with the world, and can benefit rehabilitation efficiency, assistive devices’ effectiveness, and ergonomic support of workers. Wearable robots’ ergonomics and safety can be promoted by using actuators made of soft materials, but soft actuators in the literature are unable to produce the high torques required for lower limb activities of daily living (ADLs), for example, extension of the knee for sit-to-stand. This paper presents and validates a method for realizing a soft high torque actuator, the pleated pneumatic interference actuator, for knee extension. It was shown to produce a torque of 150 Nm at 2 bar and an angle of 70°. Future work will see the development of a portable pressure source to inflate the wearable actuator.

Original languageEnglish
Title of host publicationBiosystems and Biorobotics
PublisherSpringer
Pages39-43
Number of pages5
DOIs
Publication statusPublished - 1 Jan 2019

Publication series

NameBiosystems and Biorobotics
Volume22
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

Fingerprint

Actuators
Torque
Robots
Ergonomics
Patient rehabilitation
Pneumatics

Cite this

Veale, Allan J. ; Staman, Kyrian ; van der Kooij, Herman. / Realizing soft high torque actuators for complete assistance wearable robots. Biosystems and Biorobotics. Springer, 2019. pp. 39-43 (Biosystems and Biorobotics).
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Realizing soft high torque actuators for complete assistance wearable robots. / Veale, Allan J.; Staman, Kyrian; van der Kooij, Herman.

Biosystems and Biorobotics. Springer, 2019. p. 39-43 (Biosystems and Biorobotics; Vol. 22).

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

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