Conceptual design, modeling and control of a rigid parallel serial-elastic actuator

摘要

Parallel-elastic actuators (PEA) can provide efficiency advantages. In current designs clutches can fix or release the neutral position of the elasticity. The presented actuator combines a direct actuator with a serial-elastic actuator (SEA) in parallel. In addition to the efficiency advantages of a PEA, both actuators can also actively cooperate or actively control the neutral position of the elasticity. On the test bench, the prototype is operated as a PEA with a load similar to the hip during gait, whereby a reduction in peak power of 19?% is found. Furthermore the SEA can support 31?% of the torque during a task similar to sit-to-stand.