Study on Compliant Actuator of the Knee Joint for Exoskeleton
The compliance of the joint for exoskeleton is very important in adapting to the wearer's motions and human-machine compatibility. However，the conventional rigid or passive compliant mechanisms cannot achieve the purpose of active compliance due to the non-real-time feedback of the human-machin...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.10.015 |
| Summary: | The compliance of the joint for exoskeleton is very important in adapting to the wearer's motions and human-machine compatibility. However，the conventional rigid or passive compliant mechanisms cannot achieve the purpose of active compliance due to the non-real-time feedback of the human-machine interaction forces. Therefore，an active compliant actuator of the knee joint is developed，using of the antagonistic driving principles and the force-position transformation of the slider-crank mechanism，which can not only implement the compliance of the traditional series elastic actuator，but also can obtain the real-time human-machine interaction forces. Finally，the feasibility and effectiveness of the compliant actuator are verified by tests. |
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| ISSN: | 1004-2539 |