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Efficient design of a torque actuator for lower extremity exoskeleton based on muscle function analysis
Safavi, S ; Sharif University of Technology | 2011
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- Type of Document: Article
- DOI: 10.4028/www.scientific.net/AMR.328-330.1041
- Publisher: 2011
- Abstract:
- Several lower extremity exoskeletal systems have been developed for augmentation purpose. Common actuators, have important drawbacks such as complexity, and poor torque capacities. The main scope of this research is to propose a series elastic actuator for lower extremity exoskeletal system which was designed based on muscle functional analysis. For this purpose, a biomechanical framework consisting of a musculoskeletal model with ten degrees-of-freedom actuated by eighteen Hill-type musculotendon actuators per leg is utilized to perform the muscle functional analysis for common daily human activities. The simulation study illustrated functional differences between flexor and extensor muscles and the results were utilized for efficient design of the series elastic torque actuator employed in lower extremity exoskeletons
- Keywords:
- Muscle power ; Efficient designs ; Exoskeleton ; Extensor muscles ; Human activities ; Lower extremity ; Lower extremity exoskeletons ; Muscle function ; Musculoskeletal model ; Series elastic actuators ; Simulation studies ; Torque actuator ; Torque actuators ; Torque capacity ; Biomechanics ; Design ; Functional analysis ; Human rehabilitation equipment ; Mechatronics ; Muscle ; Torque ; Actuators
- Source: 2011 International Conference on Mechatronics and Materials Processing, ICMMP 2011, Guangzhou, 18 November 2011 through 20 November 2011 ; Volume 328-330 , 2011 , Pages 1041-1044 ; 10226680 (ISSN) ; 9783037852385 (ISBN)
- URL: http://www.scientific.net/AMR.328-330.1041