입는 외골격 로봇을 위한 선형화된 출력을 갖는 회전형 줄꼬임 기반 구동기

Abstract

Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.