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Design and control of wearable robot...
~
Arizona State University.
Design and control of wearable robot actuators.
紀錄類型:
書目-電子資源 : 單行本
正題名/作者:
Design and control of wearable robot actuators./
作者:
Hollander, Kevin Wayne.
面頁冊數:
205 p.
附註:
Source: Dissertation Abstracts International, Volume: 66-11, Section: B, page: 6231.
Contained By:
Dissertation Abstracts International66-11B.
標題:
Engineering, Mechanical. -
電子資源:
http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3194919
ISBN:
9780542399251
Design and control of wearable robot actuators.
Hollander, Kevin Wayne.
Design and control of wearable robot actuators.
- 205 p.
Source: Dissertation Abstracts International, Volume: 66-11, Section: B, page: 6231.
Thesis (Ph.D.)--Arizona State University, 2005.
For a wearable assistance robot, the term "wearable" has special implications. These implications are that a wearable actuator must be lightweight, energy efficient/conservative and most importantly, safe. In contrast, a typical factory floor robot is none of these things.
ISBN: 9780542399251Subjects--Topical Terms:
170925
Engineering, Mechanical.
Design and control of wearable robot actuators.
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Source: Dissertation Abstracts International, Volume: 66-11, Section: B, page: 6231.
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Adviser: Thomas G. Sugar.
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Thesis (Ph.D.)--Arizona State University, 2005.
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For a wearable assistance robot, the term "wearable" has special implications. These implications are that a wearable actuator must be lightweight, energy efficient/conservative and most importantly, safe. In contrast, a typical factory floor robot is none of these things.
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As an approach to developing energy conservative actuators, the concept of structure control is created. Structure control is an indirect method of mechanical actuation. Rather than using an actuator to drive a mechanical system into its desired behavior, structure control alters the natural response of the system. Manipulation of the passive mechanical parameters allows a system to respond as desired, passively. Proper use of this method can lead to the design of robust, energy conservative actuators.
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A Jack Spring(TM) is a new type of mechanical actuator, which is based upon the concept of structure control. An example Jack Spring mechanism is evaluated for ankle gait assistance. The Jack Spring actuator uses its inherent elastic nature to reduce both peak power and energy requirements for its motor. In the final example, peak power required of the motor for ankle gait is reduced from 247W to just 85W. In addition, energy requirements are reduced from nearly 51 Joules to just 26 Joules per step when compared to a simple motor/gearbox combination. Using this approach, an initial prototype is expected to provide 100% of the power and energy necessary for ankle gait in a compact 0.54kg package. This weight is 12 times less than predicted for a comparable motor/gearbox approach.
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