Application of Elastic Actuators with Torsion Spring of Variable Stiffness in Robotic Rehabilitation Devices
https://doi.org/10.17586/0021-3454-2022-65-7-527-534
Abstract
The issue of optimal spring elasticity in the actuator is investigated in order to develop efficient and compact flexible joints using physical springs for possible use in wearable robotic rehabilitation devices. An overview of domestic and foreign developments is presented, various approaches to the classification of actuators by the spring location are described. The advantages and disadvantages of alternative solutions are considered; a concept of flat torsion is developed, which allows for assembling several springs on one shaft.
About the Authors
M. S. Malov
ITMO University
Russian Federation
Russian Federation
Mikhail S. Malov – Post-Graduate Student; Faculty of Control Systems and Robotics
St. Petersburg
V. M. Musalimov
ITMO University
Russian Federation
Russian Federation
Victor M. Musalimov – Dr. Sci., Professor; Faculty of Control Systems and Robotics
St. Petersburg
S. Yu. Lovlin
ITMO University
Russian Federation
Russian Federation
Sergey Yu. Lovlin – PhD, Associate professor; Faculty of Control Systems and Robotics
St. Petersburg
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Review
For citations:
Malov M.S., Musalimov V.M., Lovlin S.Yu. Application of Elastic Actuators with Torsion Spring of Variable Stiffness in Robotic Rehabilitation Devices. Journal of Instrument Engineering. 2022;65(7):527-534. (In Russ.) https://doi.org/10.17586/0021-3454-2022-65-7-527-534
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