Power analysis of a series elastic actuator for ankle joint gait rehabilitation

@article{Farah2015PowerAO,
  title={Power analysis of a series elastic actuator for ankle joint gait rehabilitation},
  author={Oussama Ben Farah and Zhao Guo and Chen Gong and Chi Zhu and Haoyong Yu},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={2754-2760}
}
Series elastic actuator (SEA) has been widely used in rehabilitation robotics, where human-robot interaction is required. Due to its intrinsic compliance, SEA can improve the usage of power for its motor, which leads to a compact and lightweight SEA design. The aim of this paper is to reduce the energy consumption and the power requirements of the motor of the SEA by optimizing the stiffness of its spring. This study is inspired by the biomechanics of a human ankle joint, which stores elastic… CONTINUE READING
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