Abstract
Cable-based actuation systems are preferred in rehabilitation robotics due to their adequate force transmission and the possibility of safely locating the motors away from the patient. In such applications, the cable dynamics represents the prescribing component for the system operating loads and control. A good understanding of the actuation, based on cable-conduit transmission, is therefore becoming mandatory. There are several types of cable-conduit configurations used for the actuation. Currently, there is lack of information in literature with regard to the push-pull cable type. Therefore, the main focus of this contribution is to evaluate push-pull cable-based actuation used within wearable robotic devices. This study includes working principle description of push-pull cable actuation with its characteristic advantages and drawbacks. The use of push-pull cables in bidirectional force transfer with remote actuation is investigated being integrated in a test-stand setup of a novel gait rehabilitation device. The experimental results and close analysis of the push-pull cable-based actuation system outline its performance, the overall dynamic behavior and the transmission efficiency of push-pull cables used for powered orthoses.
Highlights
In the development of novel rehabilitation robotic devices engineers are faced with the challenge of combining suitable design concepts, high performance actuator technologies and dedicated control strategies in view of improved physical human-robot interaction (HRI)
Considering that orthosis equilibrium position is not when the orthosis is perfectly vertical as the initial condition for the experiments, more pulling force is required to reach the desired amplitude
In this paper were addressed the critical points of cabledriven transmissions, including their dynamic behavior, main advantages, and drawbacks with the focus on the push-pull cable configuration
Summary
In the development of novel rehabilitation robotic devices engineers are faced with the challenge of combining suitable design concepts, high performance actuator technologies and dedicated control strategies in view of improved physical human-robot interaction (HRI). Classical designs including high power actuators tend to be relatively expensive. The solution suggested in several contributions (Morrell and Salisbury, 1998; Sugar, 2002; Zinn et al, 2004; Veneman, 2006; Slavnicet al., 2014; Guerrero et al, 2015) proposes relocating all actuators to the static base of the system and decoupling the dynamics of the actuator and the load, by using a compliant element, e.g., a spring, between both This way, mass and inertia of the movable part can be significantly reduced, allowing an ergonomic kinematic design
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