Soft fluidic actuators of rotary type for safe physical human-machine interaction

O. Ivlev
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引用次数: 50

Abstract

Safe actuators with controllable compliance are indispensable for assistive robots working in human environment and especially for rehabilitation devices physically interacting with patient. The paper introduces new patent pending soft fluidic actuators with rotary elastic chambers (REC), which produces rotational motion without any additional transmission elements. The key actuator features as inherent compliance, high back-driveability and light-weight design build a foundation for safe physical human-machine interaction, although torques of several tens of Newton-meter can be generated. Due to their compact design the REC-actuators demonstrate better integration capabilities into complex kinematic structures than conventional fluidic muscles of linear type. The actuator compliance can be varied by pressure regulation in antagonistic acting chambers, which makes soft fluidic actuators very suitable for making the transition from continuous passive motion to active (assistive) behaviour during the therapy depending on a patient activity. Conceptual design of modular compact assistive motion therapy devices based on new “slim-line” REC-actuators is presented.
用于安全物理人机交互的旋转式软流体执行器
对于在人类环境中工作的辅助机器人,特别是与患者进行物理交互的康复设备,安全、可控的执行机构是必不可少的。本文介绍了一种新型的正在申请专利的带有旋转弹性腔的软流体执行器(REC),它不需要任何额外的传动元件就能产生旋转运动。虽然可以产生几十牛顿-米的扭矩,但执行器的主要特点是固有的顺应性、高的反向驾驶性和轻量化设计,为安全的物理人机交互奠定了基础。由于其紧凑的设计,recc -致动器比传统的线性型流体肌肉具有更好的集成复杂运动结构的能力。执行器的顺应性可以通过拮抗作用室中的压力调节来改变,这使得软流体执行器非常适合在治疗期间根据患者的活动从连续被动运动过渡到主动(辅助)行为。提出了基于新型“细线”recc执行器的模块化紧凑型辅助运动治疗装置的概念设计。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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