Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit

An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation of an exosuit. A gait analysis was performed...
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Autor*in:	Hee Don Lee [verfasserIn] Heejin Park [verfasserIn] Dae Han Hong [verfasserIn] Tae Hun Kang [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	tendon-driven actuator wire-driven actuator series elastic actuator actuator module exosuit wearable robot

Übergeordnetes Werk:	In: Actuators - MDPI AG, 2013, 11(2022), 6, p 166
Übergeordnetes Werk:	volume:11 ; year:2022 ; number:6, p 166

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/act11060166

Katalog-ID:	DOAJ021477728

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spelling	10.3390/act11060166 doi (DE-627)DOAJ021477728 (DE-599)DOAJ7c6da52f496c4951836edef8364d0fd5 DE-627 ger DE-627 rakwb eng TA401-492 TK1001-1841 Hee Don Lee verfasserin aut Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation of an exosuit. A gait analysis was performed for walking on stairs to deduce the design requirements of SETA, and the necessary performances were then determined based on these requirements. The SETA is designed to assign compliance to rigid wires using linear springs. The deformation in linear springs generated during tension was measured through an encoder to calculate the human robot interaction (HRI) force. By utilizing the HRI force as feedback of an admittance controller, the SETA was capable of providing wire tensions required by an exosuit. The performance of the SETA was verified through series elastic component (SEC) deformation and force control experiments. The SEC deformation increased from 0 to 3.86 mm when the wire tension increased from 0 to 100 N. This force controller demonstrated a slight vibration owing to the mechanical properties of the springs constituting the SEC during the step input; however, the value gradually converged to 100 N. The developed SETA was applied to an exosuit system for supporting knee strength of the elderly when walking on stairs. tendon-driven actuator wire-driven actuator series elastic actuator actuator module exosuit wearable robot Materials of engineering and construction. Mechanics of materials Production of electric energy or power. Powerplants. Central stations Heejin Park verfasserin aut Dae Han Hong verfasserin aut Tae Hun Kang verfasserin aut In Actuators MDPI AG, 2013 11(2022), 6, p 166 (DE-627)726491802 (DE-600)2682469-3 20760825 nnns volume:11 year:2022 number:6, p 166 https://doi.org/10.3390/act11060166 kostenfrei https://doaj.org/article/7c6da52f496c4951836edef8364d0fd5 kostenfrei https://www.mdpi.com/2076-0825/11/6/166 kostenfrei https://doaj.org/toc/2076-0825 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 11 2022 6, p 166
allfields_unstemmed	10.3390/act11060166 doi (DE-627)DOAJ021477728 (DE-599)DOAJ7c6da52f496c4951836edef8364d0fd5 DE-627 ger DE-627 rakwb eng TA401-492 TK1001-1841 Hee Don Lee verfasserin aut Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation of an exosuit. A gait analysis was performed for walking on stairs to deduce the design requirements of SETA, and the necessary performances were then determined based on these requirements. The SETA is designed to assign compliance to rigid wires using linear springs. The deformation in linear springs generated during tension was measured through an encoder to calculate the human robot interaction (HRI) force. By utilizing the HRI force as feedback of an admittance controller, the SETA was capable of providing wire tensions required by an exosuit. The performance of the SETA was verified through series elastic component (SEC) deformation and force control experiments. The SEC deformation increased from 0 to 3.86 mm when the wire tension increased from 0 to 100 N. This force controller demonstrated a slight vibration owing to the mechanical properties of the springs constituting the SEC during the step input; however, the value gradually converged to 100 N. The developed SETA was applied to an exosuit system for supporting knee strength of the elderly when walking on stairs. tendon-driven actuator wire-driven actuator series elastic actuator actuator module exosuit wearable robot Materials of engineering and construction. Mechanics of materials Production of electric energy or power. Powerplants. Central stations Heejin Park verfasserin aut Dae Han Hong verfasserin aut Tae Hun Kang verfasserin aut In Actuators MDPI AG, 2013 11(2022), 6, p 166 (DE-627)726491802 (DE-600)2682469-3 20760825 nnns volume:11 year:2022 number:6, p 166 https://doi.org/10.3390/act11060166 kostenfrei https://doaj.org/article/7c6da52f496c4951836edef8364d0fd5 kostenfrei https://www.mdpi.com/2076-0825/11/6/166 kostenfrei https://doaj.org/toc/2076-0825 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 11 2022 6, p 166
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allfieldsSound	10.3390/act11060166 doi (DE-627)DOAJ021477728 (DE-599)DOAJ7c6da52f496c4951836edef8364d0fd5 DE-627 ger DE-627 rakwb eng TA401-492 TK1001-1841 Hee Don Lee verfasserin aut Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation of an exosuit. A gait analysis was performed for walking on stairs to deduce the design requirements of SETA, and the necessary performances were then determined based on these requirements. The SETA is designed to assign compliance to rigid wires using linear springs. The deformation in linear springs generated during tension was measured through an encoder to calculate the human robot interaction (HRI) force. By utilizing the HRI force as feedback of an admittance controller, the SETA was capable of providing wire tensions required by an exosuit. The performance of the SETA was verified through series elastic component (SEC) deformation and force control experiments. The SEC deformation increased from 0 to 3.86 mm when the wire tension increased from 0 to 100 N. This force controller demonstrated a slight vibration owing to the mechanical properties of the springs constituting the SEC during the step input; however, the value gradually converged to 100 N. The developed SETA was applied to an exosuit system for supporting knee strength of the elderly when walking on stairs. tendon-driven actuator wire-driven actuator series elastic actuator actuator module exosuit wearable robot Materials of engineering and construction. Mechanics of materials Production of electric energy or power. Powerplants. Central stations Heejin Park verfasserin aut Dae Han Hong verfasserin aut Tae Hun Kang verfasserin aut In Actuators MDPI AG, 2013 11(2022), 6, p 166 (DE-627)726491802 (DE-600)2682469-3 20760825 nnns volume:11 year:2022 number:6, p 166 https://doi.org/10.3390/act11060166 kostenfrei https://doaj.org/article/7c6da52f496c4951836edef8364d0fd5 kostenfrei https://www.mdpi.com/2076-0825/11/6/166 kostenfrei https://doaj.org/toc/2076-0825 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 11 2022 6, p 166
language	English
source	In Actuators 11(2022), 6, p 166 volume:11 year:2022 number:6, p 166
sourceStr	In Actuators 11(2022), 6, p 166 volume:11 year:2022 number:6, p 166
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institution	findex.gbv.de
topic_facet	tendon-driven actuator wire-driven actuator series elastic actuator actuator module exosuit wearable robot Materials of engineering and construction. Mechanics of materials Production of electric energy or power. Powerplants. Central stations
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callnumber-first	T - Technology
author	Hee Don Lee
spellingShingle	Hee Don Lee misc TA401-492 misc TK1001-1841 misc tendon-driven actuator misc wire-driven actuator misc series elastic actuator misc actuator module misc exosuit misc wearable robot misc Materials of engineering and construction. Mechanics of materials misc Production of electric energy or power. Powerplants. Central stations Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit
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topic_title	TA401-492 TK1001-1841 Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit tendon-driven actuator wire-driven actuator series elastic actuator actuator module exosuit wearable robot
topic	misc TA401-492 misc TK1001-1841 misc tendon-driven actuator misc wire-driven actuator misc series elastic actuator misc actuator module misc exosuit misc wearable robot misc Materials of engineering and construction. Mechanics of materials misc Production of electric energy or power. Powerplants. Central stations
topic_unstemmed	misc TA401-492 misc TK1001-1841 misc tendon-driven actuator misc wire-driven actuator misc series elastic actuator misc actuator module misc exosuit misc wearable robot misc Materials of engineering and construction. Mechanics of materials misc Production of electric energy or power. Powerplants. Central stations
topic_browse	misc TA401-492 misc TK1001-1841 misc tendon-driven actuator misc wire-driven actuator misc series elastic actuator misc actuator module misc exosuit misc wearable robot misc Materials of engineering and construction. Mechanics of materials misc Production of electric energy or power. Powerplants. Central stations
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title	Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit
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title_full	Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit
author_sort	Hee Don Lee
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title_sort	development of a series elastic tendon actuator (seta) based on gait analysis for a knee assistive exosuit
callnumber	TA401-492
title_auth	Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit
abstract	An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation of an exosuit. A gait analysis was performed for walking on stairs to deduce the design requirements of SETA, and the necessary performances were then determined based on these requirements. The SETA is designed to assign compliance to rigid wires using linear springs. The deformation in linear springs generated during tension was measured through an encoder to calculate the human robot interaction (HRI) force. By utilizing the HRI force as feedback of an admittance controller, the SETA was capable of providing wire tensions required by an exosuit. The performance of the SETA was verified through series elastic component (SEC) deformation and force control experiments. The SEC deformation increased from 0 to 3.86 mm when the wire tension increased from 0 to 100 N. This force controller demonstrated a slight vibration owing to the mechanical properties of the springs constituting the SEC during the step input; however, the value gradually converged to 100 N. The developed SETA was applied to an exosuit system for supporting knee strength of the elderly when walking on stairs.
abstractGer	An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation of an exosuit. A gait analysis was performed for walking on stairs to deduce the design requirements of SETA, and the necessary performances were then determined based on these requirements. The SETA is designed to assign compliance to rigid wires using linear springs. The deformation in linear springs generated during tension was measured through an encoder to calculate the human robot interaction (HRI) force. By utilizing the HRI force as feedback of an admittance controller, the SETA was capable of providing wire tensions required by an exosuit. The performance of the SETA was verified through series elastic component (SEC) deformation and force control experiments. The SEC deformation increased from 0 to 3.86 mm when the wire tension increased from 0 to 100 N. This force controller demonstrated a slight vibration owing to the mechanical properties of the springs constituting the SEC during the step input; however, the value gradually converged to 100 N. The developed SETA was applied to an exosuit system for supporting knee strength of the elderly when walking on stairs.
abstract_unstemmed	An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation of an exosuit. A gait analysis was performed for walking on stairs to deduce the design requirements of SETA, and the necessary performances were then determined based on these requirements. The SETA is designed to assign compliance to rigid wires using linear springs. The deformation in linear springs generated during tension was measured through an encoder to calculate the human robot interaction (HRI) force. By utilizing the HRI force as feedback of an admittance controller, the SETA was capable of providing wire tensions required by an exosuit. The performance of the SETA was verified through series elastic component (SEC) deformation and force control experiments. The SEC deformation increased from 0 to 3.86 mm when the wire tension increased from 0 to 100 N. This force controller demonstrated a slight vibration owing to the mechanical properties of the springs constituting the SEC during the step input; however, the value gradually converged to 100 N. The developed SETA was applied to an exosuit system for supporting knee strength of the elderly when walking on stairs.
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container_issue	6, p 166
title_short	Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit
url	https://doi.org/10.3390/act11060166 https://doaj.org/article/7c6da52f496c4951836edef8364d0fd5 https://www.mdpi.com/2076-0825/11/6/166 https://doaj.org/toc/2076-0825
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Development of a Series Elastic Tendon Actuator (SETA) Based on Gait Analysis for a Knee Assistive Exosuit

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