Design and evaluation of a series-elastic gyroscopic actuator for balance assistance

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

Sensory-motor impairments due to age or neurological diseases can influence a person's ability to maintain balance, and increase the risk of falls. Recently, wearable Control Moment Gyroscopes (CMGs) have proven to provide effective balance support. Here, we show a new design of a Series-Elastic Control Moment Gyroscope (SECMG) enhanced by an additional passive degree of freedom, namely a second, orthogonal gimbal that is supported by a (visco)elastic element. The design mainly aims to reject disturbances originating from human movement and render a low remaining impedance, as well as to provide more accurate torque sensing, based on angular deflection of the compliant element. Evaluation of the torque tracking performance with regards to a classic rigid Single-Gimbal Control Moment Gyroscope (SGCMG) showed that the device equally exceeds the bandwidth requirements for its application in human augmentation. However, characterization of our current compliant construction also revealed some backlash occluding the torque-deflection relation. In the future, the SECMG could be evaluated in experiments with humans, to validate its predicted low remaining impedance.

Original languageEnglish
Title of host publicationProceedings iof the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
PublisherIEEE
Pages781-786
ISBN (Electronic)978-1-6654-4139-1
DOIs
Publication statusPublished - 2021
Event2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands
Duration: 12 Jul 202116 Jul 2021

Conference

Conference2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
CountryNetherlands
CityDelft
Period12/07/2116/07/21

Keywords

  • CMG
  • Control moment gyroscope
  • SEA
  • Series-elastic actuator
  • Torque control
  • Wearable robotics

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