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A Series Elastic Dual-Motor Actuator Concept for Wearable Robotics

  • Tom Verstraten
  • Raphaël Furnémont
  • Pablo López-García
  • Stein Crispel
  • Bram Vanderborght
  • Dirk Lefeber
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)

Abstract

Series Elastic Actuators (SEAs) are used extensively in the field of wearable robotics because of their energy efficiency. Redundant drivetrains enable a further reduction in electrical energy consumption, as they use the actuator’s motors in a more energy efficient way. In this work, we present a Series Elastic Dual-Motor Actuator (SEDMA), a kinematically redundant actuator with series elasticity. We simulate its use in an ankle prosthesis and compare its energy efficiency to that of a traditional SEA. Results indicate an energy reduction of 16% compared to the SEA.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Tom Verstraten
    • 1
  • Raphaël Furnémont
    • 1
  • Pablo López-García
    • 1
  • Stein Crispel
    • 1
  • Bram Vanderborght
    • 1
  • Dirk Lefeber
    • 1
  1. 1.Robotics and Multibody Mechanics Research Group (R&MM), Faculty of Mechanical EngineeringVrije Universiteit Brussel and Flanders MakeElseneBelgium

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