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.
Rehabilitation Engineering Lab, ETH Zurich, Switzerland. mtucker@ethz.ch
Michael R
MR
Tucker
Roger
R
Gassert
D004867:Equipment Design; D006801:Humans; D009989:Orthotic Devices; D012371:Robotics