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Title

ARES, a variable stiffness actuator with embedded force sensor for the ATLAS exoskeleton

AuthorsCestari, Manuel ; Sanz Merodio, Daniel ; Arévalo Reggeti, Juan Carlos R. ; García Armada, Elena
KeywordsCompliant mechanisms
Service robots
Rehabilitation robots
Exoskeletons
Prosthetics
Sensors
Issue Date2014
PublisherEmerald Group Publishing
CitationIndustrial Robot 41: 518- 526 (2014)
AbstractThe purpose of this study is to present a variable stiffness actuator, one of whose main features is that the compliant elements simultaneously allow measuring of the torque exerted by the joint. Conceived as a force-controlled actuator, this actuator with Adjustable Rigidity and Embedded Sensor (ARES) is intended to be implemented in the knee of the ATLAS exoskeleton for children to allow the exploitation of the intrinsic dynamic during the locomotion cycle. Design/methodology/approach - A set of simulations were performed to evaluate the behavior of the actuator mechanism and a prototype of the variable impedance actuator was incorporated into the exoskeleton's knee and evaluations of the torque measurements capabilities along with the rigidity adjustments were made. Findings - Mass and inertia of the actuator are minimized by the compact design and the utilization of the different component for more than one utility. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected. Originality/value - In the actuator, the compliant elements simultaneously allow measuring of the torque exerted by the join. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected. © Emerald Group Publishing Limited. Purpose -
Publisher version (URL)http://dx.doi.org/10.1108/IR-06-2014-0350
URIhttp://hdl.handle.net/10261/111296
DOI10.1108/IR-06-2014-0350
ISSN0143-991X
Appears in Collections:(CAR) Artículos
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