Tesi di laurea magistrale
Design and control of an underactuated transmission for a soft exoskeleton
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
relatore Prof. Bicchi, Antonio
- Soft Robotic
Data inizio appello
Data di rilascio
Exoskeletons have been developed for a wide range of applications, from the military to the medical ﬁeld, with the aim of augmenting human performance or compensating for neuromuscular deﬁciencies. However, to empower the high number of degrees of freedom of the human body, they often employ a high number of motors, increasing the size, weight and power consumption of the system. In this work I hereby present the design, analysis and control of a system of transmission, able to empower an elbow exosuit, that adopts a single motor to drive multiple, independently actuated, degrees of freedom. This paradigm, known as One-to-many, is achieved using a modular design where each module comprises a clutchable mechanism that allows to convert a single directional motion from the prime mover to a selectable bidirectional output. Moreover, the mechanism has a locking feature that enables the wearer of the exoskeleton to hold a static load with a minimal power consumption. I presented a controller for the clutchable unit based on a ﬁnite-state machine model, and evaluate its performance for varying input velocities.
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