Design of a Series Elastic and Bowdencable-Based Actuation System for Use As Torque-Actuator in Exoskeleton-Type Training Robots

摘要

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.