Differential-Damper Topologies for Actuators in Rehabilitation Robotics

Differential-damper (DD) elements can provide a high bandwidth means for decoupling a high inertia, high friction, non-backdrivable actuator from its output and can enable high fidelity force control. In this paper, a port-based decomposition is used to analyze the energetic behavior of such actuators in various physical domains. The general concepts are then applied to a prototype DD actuator for illustration and discussion. It is shown that, within physical bounds, the output torque from a DD actuator can be controlled independently from the input speed. This concept holds the potential to be scaled up and integrated in a compact and lightweight package powerful enough for incorporation with a portable lower limb orthotic or prosthetic device. © 2012 IEEE.


Published in:
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 3081-3085
Presented at:
34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, San Diego, California, USA, August 28-September 1, 2012
Year:
2012
Laboratories:




 Record created 2012-08-23, last modified 2018-03-17


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