Design of a Quasi-Direct Drive Actuator with Embedded Pulley for a Compact, Lightweight, and High-Bandwidth Exosuit
Although exosuits have several advantages compared to exoskeleton type of wearable robots, they have limitations, such as bulkiness and low control performance. This study addresses the design and evaluation of a compact, lightweight, and highly responsive actuator to be used for exosuits, based on...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/12/1/21 |
| _version_ | 1797439219752239104 |
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| author | Jaeha Yang Junyoung Moon Jaewook Ryu Jehyeok Kim Kimoon Nam Sungjin Park Yoosun Kim Giuk Lee |
| author_facet | Jaeha Yang Junyoung Moon Jaewook Ryu Jehyeok Kim Kimoon Nam Sungjin Park Yoosun Kim Giuk Lee |
| author_sort | Jaeha Yang |
| collection | DOAJ |
| description | Although exosuits have several advantages compared to exoskeleton type of wearable robots, they have limitations, such as bulkiness and low control performance. This study addresses the design and evaluation of a compact, lightweight, and highly responsive actuator to be used for exosuits, based on the Quasi-Direct Drive (QDD) actuation. The design requirements of the actuator were set based on the actuation system used in the state-of-the-art exosuit from Harvard University (HE) so that it could be an improvement compared to HE. Several design concepts were comparatively evaluated to select the optimal design, and a design for the pulley embedded QDD (PEQDD) actuator was selected. The PEQDD was fabricated using mechanical components selected based on the design constraints or designed through mechanical analysis. Using a dynamometer, the efficiency map of the PEQDD was drawn. The control bandwidth comparison test with the motor originally used for HE showed improved bandwidth from 6.25 Hz to 20 Hz. Preliminary testing was done in walking and running conditions using an exosuit utilizing PEQDD. The test results showed that the actuator performance met all the design requirements. |
| first_indexed | 2024-03-09T11:49:38Z |
| format | Article |
| id | doaj.art-9418a4b9c49643f3a16f2e9851b4d54e |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T11:49:38Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-9418a4b9c49643f3a16f2e9851b4d54e2023-11-30T23:17:14ZengMDPI AGActuators2076-08252023-01-011212110.3390/act12010021Design of a Quasi-Direct Drive Actuator with Embedded Pulley for a Compact, Lightweight, and High-Bandwidth ExosuitJaeha Yang0Junyoung Moon1Jaewook Ryu2Jehyeok Kim3Kimoon Nam4Sungjin Park5Yoosun Kim6Giuk Lee7School of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaSchool of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaSchool of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaDepartment of Mechanical Engineering, Université Laval, Quebec, QC G1V 0A6, CanadaSchool of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaSchool of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaSchool of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaSchool of Mechanical Engineering, Chung-Ang University, Seoul 06974, Republic of KoreaAlthough exosuits have several advantages compared to exoskeleton type of wearable robots, they have limitations, such as bulkiness and low control performance. This study addresses the design and evaluation of a compact, lightweight, and highly responsive actuator to be used for exosuits, based on the Quasi-Direct Drive (QDD) actuation. The design requirements of the actuator were set based on the actuation system used in the state-of-the-art exosuit from Harvard University (HE) so that it could be an improvement compared to HE. Several design concepts were comparatively evaluated to select the optimal design, and a design for the pulley embedded QDD (PEQDD) actuator was selected. The PEQDD was fabricated using mechanical components selected based on the design constraints or designed through mechanical analysis. Using a dynamometer, the efficiency map of the PEQDD was drawn. The control bandwidth comparison test with the motor originally used for HE showed improved bandwidth from 6.25 Hz to 20 Hz. Preliminary testing was done in walking and running conditions using an exosuit utilizing PEQDD. The test results showed that the actuator performance met all the design requirements.https://www.mdpi.com/2076-0825/12/1/21actuatorsexosuitsdesign engineeringcable-driven systemcontrol bandwidthdynamometer test |
| spellingShingle | Jaeha Yang Junyoung Moon Jaewook Ryu Jehyeok Kim Kimoon Nam Sungjin Park Yoosun Kim Giuk Lee Design of a Quasi-Direct Drive Actuator with Embedded Pulley for a Compact, Lightweight, and High-Bandwidth Exosuit Actuators actuators exosuits design engineering cable-driven system control bandwidth dynamometer test |
| title | Design of a Quasi-Direct Drive Actuator with Embedded Pulley for a Compact, Lightweight, and High-Bandwidth Exosuit |
| title_full | Design of a Quasi-Direct Drive Actuator with Embedded Pulley for a Compact, Lightweight, and High-Bandwidth Exosuit |
| title_fullStr | Design of a Quasi-Direct Drive Actuator with Embedded Pulley for a Compact, Lightweight, and High-Bandwidth Exosuit |
| title_full_unstemmed | Design of a Quasi-Direct Drive Actuator with Embedded Pulley for a Compact, Lightweight, and High-Bandwidth Exosuit |
| title_short | Design of a Quasi-Direct Drive Actuator with Embedded Pulley for a Compact, Lightweight, and High-Bandwidth Exosuit |
| title_sort | design of a quasi direct drive actuator with embedded pulley for a compact lightweight and high bandwidth exosuit |
| topic | actuators exosuits design engineering cable-driven system control bandwidth dynamometer test |
| url | https://www.mdpi.com/2076-0825/12/1/21 |
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