Series Parallel Elastic Actuation Research Articles

Variable Recruitment of Parallel Elastic Elements: Series–Parallel Elastic Actuators (SPEA) With Dephased Mutilated Gears

The development and control of variable stiffness actuators (VSAs) led to the capability of embodying physical principles of safety and energy-efficiency compared to traditional stiff servomotors. However, the output torque range and efficiency of servomotors and VSAs are still insufficient which hinders the development of machines with performances comparable to a human. We have developed a novel compliant actuation concept, series-parallel elastic actuation (SPEA), that addresses these problems. The novelty being the variable recruitment of parallel elastic elements and adaptive load cancellation. In this paper, we propose the use of multiple dephased mutilated gears with locking ring and plate, as intermittent mechanisms, linked in parallel to the motor. As a result, the motor torque requirements can be lowered, as such the motor can be downscaled and the efficiency can be drastically increased. After an abstract description of the SPEA concept and an outline of the biological basis, we present the first unidirectional SPEA proof of concept (PoC) setup. Experiments on this PoC setup endorse the feasibility of the SPEA concept. The results match the modeled trend of a lowered motor torque and increased energy efficiency.

Concept of a Series-Parallel Elastic Actuator for a Powered Transtibial Prosthesis

The majority of the commercial transtibial prostheses are purely passive devices. They store energy in an elastic element during the beginning of a step and release it at the end. A 75 kg human, however, produces on average 26 J of energy during one stride at the ankle joint when walking at normal cadence and stores/releases 9 J of energy, contributing to energy efficient locomotion. According to Winter, a subject produces on average of 250W peak power at a maximum joint torque of 125 Nm. As a result, powering a prosthesis with traditional servomotors leads to excessive motors and gearboxes at the outer extremities of the legs. Therefore, research prototypes use series elastic actuation (SEA) concepts to reduce the power requirements of the motor. In the paper, it will be shown that SEAs are able to reduce the power of the electric motor, but not the torque. To further decrease the motor size, a novel human-centered actuator concept is developed, which is inspired by the variable recruitment of muscle fibers of a human muscle. We call this concept series-parallel elastic actuation (SPEA), and the actuator consists of multiple parallel springs, each connected to an intermittent mechanism with internal locking and a single motor. As a result, the motor torque requirements can be lowered and the efficiency drastically increased. In the paper, the novel actuation concept is explained, and a comparative study between a stiff motor, an SEA and an SPEA, which all aim at mimicking human ankle behavior, is performed.