2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014, pp.132 - 135
Abstract
A human-robot interaction system should not restrain the human motion, but just provide appropriate assistive torque according to the operator's intention. It requires a very precise actuating system which can realize zero impedance between the human and the robot. In the proposed system, the actuator module employing a series elastic actuator (SEA) mechanism is developed, which contains a torsional spring between an actuator and a human joint. Four actuator modules are applied to assist the operator's lower extremity movement in the hip joints and the knee joints on the sagittal plane.
Publisher
Institute of Electrical and Electronics Engineers Inc.