An Adjustable Compliant Joint for Lower-Limb Exoskeletons

Cestari Soto, Manuel; Sanz Merodio, Daniel; Arévalo, Juan Carlos y García, Elena (2015). An Adjustable Compliant Joint for Lower-Limb Exoskeletons. "IEEE/ASME Transactions on Mechatronics", v. 20 (n. 2); pp. 889-898. ISSN 1083-4435.


Título: An Adjustable Compliant Joint for Lower-Limb Exoskeletons
  • Cestari Soto, Manuel
  • Sanz Merodio, Daniel
  • Arévalo, Juan Carlos
  • García, Elena
Tipo de Documento: Artículo
Título de Revista/Publicación: IEEE/ASME Transactions on Mechatronics
Fecha: Abril 2015
Volumen: 20
Palabras Clave Informales: Active orthoses, compliant joint, force sensor
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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The field of exoskeletons and wearable devices for walking assistance and rehabilitation has advanced considerably over the past few years. Currently, commercial devices contain joints with stiff actuators that cannot adapt to unpredictable environments. These actuators consume more energy and may not be appropriate for human-machine interactions. Thus, adjustable compliant actuators are being cautiously incorporated into new exoskeletons and active orthoses. Some simulation-based studies have evaluated the benefits of incorporating compliant joints into such devices. Another reason that compliant actuators are desirable is that spasticity and spasmodic movements are common among patients with motor deficiencies; compliant actuators could efficiently absorb these perturbations and improve joint control. In this paper, we provide an overview of the requirements that must be fulfilled by these actuators while evaluating the behavior of leg joints in the locomotion cycle. A brief review of existing compliant actuators is conducted, and our proposed variable stiffness actuator prototype is presented and evaluated. The actuator prototype is implemented in an exoskeleton knee joint operated by a state machine that exploits the dynamics of the leg, resulting in a reduction in actuation energy demand and better adaptability to disturbances.

Proyectos asociados

Gobierno de EspañaDPI2010-18702Sin especificarSin especificarSpanish National Plan for Research, Developent and Innovation

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ID de Registro: 40895
Identificador DC:
Identificador OAI:
Identificador DOI: 10.1109/TMECH.2014.2324036
URL Oficial:
Depositado por: Memoria Investigacion
Depositado el: 14 Jun 2016 10:49
Ultima Modificación: 14 Jun 2016 10:49
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