A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System
Abstract In order to improve the elderly people’s quality of life, supporting their walking behaviors is a promising technology. Therefore, based on one ultrasonic motor, a wire-driven series elastic mechanism for walking assistive system is proposed and investigated in this research. In contrast to...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2023-07-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-023-00903-8 |
| _version_ | 1797778962218221568 |
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| author | Weihao Ren Hiroki Yoshioka Lin Yang Takeshi Morita |
| author_facet | Weihao Ren Hiroki Yoshioka Lin Yang Takeshi Morita |
| author_sort | Weihao Ren |
| collection | DOAJ |
| description | Abstract In order to improve the elderly people’s quality of life, supporting their walking behaviors is a promising technology. Therefore, based on one ultrasonic motor, a wire-driven series elastic mechanism for walking assistive system is proposed and investigated in this research. In contrast to tradition, it innovatively utilizes an ultrasonic motor and a wire-driven series elastic mechanism to achieve superior system performances in aspects of simple structure, high torque/weight ratio, quiet operation, quick response, favorable electromagnetic compatibility, strong shock resistance, better safety, and accurately stable force control. The proposed device is mainly composed of an ultrasonic motor, a linear spring, a steel wire, four pulleys and one rotating part. To overcome the ultrasonic motor’s insufficient output torque, a steel wire and pulleys are smartly combined to directly magnify the torque instead of using a conventional gear reducer. Among the pulleys, there is one tailored pulley playing an important role to keep the reduction ratio as 4.5 constantly. Meanwhile, the prototype is manufactured and its actual performance is verified by experimental results. In a one-second operating cycle, it only takes 86 ms for this mechanism to output an assistive torque of 1.6 N·m. At this torque, the ultrasonic motor’s speed is around 4.1 rad/s. Moreover, experiments with different operation periods have been conducted for different application scenarios. This study provides a useful idea for the application of ultrasonic motor in walking assistance system. |
| first_indexed | 2024-03-12T23:25:04Z |
| format | Article |
| id | doaj.art-45ebf9772a1642659bf95d5e5fa214e8 |
| institution | Directory Open Access Journal |
| issn | 2192-8258 |
| language | English |
| last_indexed | 2024-03-12T23:25:04Z |
| publishDate | 2023-07-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-45ebf9772a1642659bf95d5e5fa214e82023-07-16T11:11:23ZengSpringerOpenChinese Journal of Mechanical Engineering2192-82582023-07-0136111210.1186/s10033-023-00903-8A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive SystemWeihao Ren0Hiroki Yoshioka1Lin Yang2Takeshi Morita3State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and AstronauticsGraduate School of Frontier Sciences, The University of TokyoState Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and AstronauticsGraduate School of Frontier Sciences, The University of TokyoAbstract In order to improve the elderly people’s quality of life, supporting their walking behaviors is a promising technology. Therefore, based on one ultrasonic motor, a wire-driven series elastic mechanism for walking assistive system is proposed and investigated in this research. In contrast to tradition, it innovatively utilizes an ultrasonic motor and a wire-driven series elastic mechanism to achieve superior system performances in aspects of simple structure, high torque/weight ratio, quiet operation, quick response, favorable electromagnetic compatibility, strong shock resistance, better safety, and accurately stable force control. The proposed device is mainly composed of an ultrasonic motor, a linear spring, a steel wire, four pulleys and one rotating part. To overcome the ultrasonic motor’s insufficient output torque, a steel wire and pulleys are smartly combined to directly magnify the torque instead of using a conventional gear reducer. Among the pulleys, there is one tailored pulley playing an important role to keep the reduction ratio as 4.5 constantly. Meanwhile, the prototype is manufactured and its actual performance is verified by experimental results. In a one-second operating cycle, it only takes 86 ms for this mechanism to output an assistive torque of 1.6 N·m. At this torque, the ultrasonic motor’s speed is around 4.1 rad/s. Moreover, experiments with different operation periods have been conducted for different application scenarios. This study provides a useful idea for the application of ultrasonic motor in walking assistance system.https://doi.org/10.1186/s10033-023-00903-8Ultrasonic motorWire-drivenSeries elastic mechanismWalking assistive systemPulleyReduction ratio |
| spellingShingle | Weihao Ren Hiroki Yoshioka Lin Yang Takeshi Morita A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System Chinese Journal of Mechanical Engineering Ultrasonic motor Wire-driven Series elastic mechanism Walking assistive system Pulley Reduction ratio |
| title | A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System |
| title_full | A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System |
| title_fullStr | A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System |
| title_full_unstemmed | A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System |
| title_short | A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System |
| title_sort | wire driven series elastic mechanism based on ultrasonic motor for walking assistive system |
| topic | Ultrasonic motor Wire-driven Series elastic mechanism Walking assistive system Pulley Reduction ratio |
| url | https://doi.org/10.1186/s10033-023-00903-8 |
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