An Adjustable Compliant Joint for Lower-Limb Exoskeletons

Cestari Soto, Manuel and Sanz Merodio, Daniel and Arévalo, Juan Carlos and 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.


Title: An Adjustable Compliant Joint for Lower-Limb Exoskeletons
  • Cestari Soto, Manuel
  • Sanz Merodio, Daniel
  • Arévalo, Juan Carlos
  • García, Elena
Item Type: Article
Título de Revista/Publicación: IEEE/ASME Transactions on Mechatronics
Date: April 2015
ISSN: 1083-4435
Volume: 20
Freetext Keywords: Active orthoses, compliant joint, force sensor
Faculty: E.T.S.I. Industriales (UPM)
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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.

Funding Projects

Government of SpainDPI2010-18702UnspecifiedUnspecifiedUnspecified

More information

Item ID: 40895
DC Identifier:
OAI Identifier:
DOI: 10.1109/TMECH.2014.2324036
Official URL:
Deposited by: Memoria Investigacion
Deposited on: 14 Jun 2016 10:49
Last Modified: 05 Jun 2019 16:44
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