Abstract
In this paper, a hybrid driven knee orthosis using Shape Memory Alloy (SMA) actuator is proposed. First, the mechanical design of the actuator system is presented. The device mainly consists of the DC motor module and the SMA spring actuator module, and the two independent operating actuators realize the hybrid drive through the electromagnetic clutch connection. Then, the constitutive model for SMA spring and mathematical model for DC motor system are established respectively to describe the output characteristics of the actuator. Finally, a series of numerical simulations are implemented on SMA springs and the DC motor to determine the changing parameters of the SMA actuator during the heating phase transition and the load characteristics of the motor.
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