Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses.

ABSTRACT: This paper presents the design and validation of a backdrivable powered knee orthosis for partial assistance of lower-limb musculature, which aims to facilitate daily activities in individuals with musculoskeletal disorders. The actuator design is guided by design principles that prioritize backdrivability, output torque, and compactness. First, we show that increasing the motor diameter while reducing the gear ratio for a fixed output torque ultimately reduces the reflected inertia (and thus backdrive torque). We also identify a tradeoff with actuator torque density that can be addressed by improving the motor's thermal environment, motivating our design of a custom Brushless DC motor with encapsulated windings. Finally, by designing a 7:1 planetary gearset directly into the stator, the a

SUBMITTER: Zhu H 

PROVIDER: S-EPMC8670722 | biostudies-literature | 2021 Dec

REPOSITORIES: biostudies-literature