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multimodal actuator

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Research on a multimodal actuator-oriented power-assisted knee exoskeleton
Yali Han, Songqing Zhu, Zhou Zhou, Yu Shi, Dabin Hao
Journal:

Robotica / Volume 35 / Issue 9 / September 2017

Published online by Cambridge University Press:

17 August 2016, pp. 1906-1922
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A multimodal actuator was proposed to achieve a more agile power-assisted exoskeleton in uncertain complex walking environments. A power-assisted knee exoskeleton prototype based on a multimodal actuator was constructed. With this multimodal actuator, several modes of operation in the power-assisted knee exoskeleton during a motion cycle are actuated, including series elastic actuation, stiff position control, and energy storage and release. Also, a control strategy for power-assisted knee exoskeleton motion control based on a state machine is developed. The ability of the power-assisted knee exoskeleton to follow human motion was tested, and the results showed that the angle error of the knee exoskeleton followed the human motion is not more than 0.4˚, and the response time error of the knee exoskeleton followed the human motion is not more than 0.2 s.