Design and Analysis of a Clutched Parallel Elastic Actuator

Bernhard Penzlin; Mustafa Enes Fincan; Yinbo Li; Linhong Ji; Steffen Leonhardt; Chuong Ngo

doi:10.3390/act8030067

Actuators (Sep 2019)

Design and Analysis of a Clutched Parallel Elastic Actuator

Bernhard Penzlin,
Mustafa Enes Fincan,
Yinbo Li,
Linhong Ji,
Steffen Leonhardt,
Chuong Ngo

Affiliations

Bernhard Penzlin: Chair for Medical Information Technology, Helmholtz Institute, RWTH Aachen University, Pauwelsstr. 20, D-52074 Aachen, Germany
Mustafa Enes Fincan: Chair for Medical Information Technology, Helmholtz Institute, RWTH Aachen University, Pauwelsstr. 20, D-52074 Aachen, Germany
Yinbo Li: Institute of Mechanical Design, Department of Mechanical Engineering, Tsinghua University, Shuangqing Road 30, Beijing 100084, China
Linhong Ji: Institute of Mechanical Design, Department of Mechanical Engineering, Tsinghua University, Shuangqing Road 30, Beijing 100084, China
Steffen Leonhardt: Chair for Medical Information Technology, Helmholtz Institute, RWTH Aachen University, Pauwelsstr. 20, D-52074 Aachen, Germany
Chuong Ngo: Chair for Medical Information Technology, Helmholtz Institute, RWTH Aachen University, Pauwelsstr. 20, D-52074 Aachen, Germany

DOI: https://doi.org/10.3390/act8030067
Journal volume & issue: Vol. 8, no. 3
p. 67

Abstract

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Various actuator topologies are discussed for the purpose of powering periodic processes and particularly walking robots. The Clutched Parallel Elastic Actuator (CPEA) is proposed to reduce the energy consumption of active exoskeletons. A nonlinear model of the CPEA is presented in addition to the mechanical design. The CPEA prototype is operated with a passive load on the walking trajectory of the hip joint. The actuator is controlled with a cascaded position control and a superimposed Iterative Learning Controller (ILC). The controller was chosen to ensure comparability between active and deactivated spring operation. The application of the CPEA has the potential to increase efficiency in the design of exoskeletons.

Published in Actuators

ISSN: 2076-0825 (Online)
Publisher: MDPI AG
Country of publisher: Switzerland
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Materials of engineering and construction. Mechanics of materials; Technology: Electrical engineering. Electronics. Nuclear engineering: Production of electric energy or power. Powerplants. Central stations
Website: http://www.mdpi.com/journal/actuators

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