Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses
This article 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 backdr...
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| Published in | IEEE/ASME transactions on mechatronics Vol. 26; no. 6; pp. 3104 - 3115 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
United States
IEEE
01.12.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
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| Abstract | This article 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 actuator has a high package factor that reduces size and weight. Benchtop tests verify that the custom actuator can produce at least 23.9-N<inline-formula><tex-math notation="LaTeX">\,\cdot\,</tex-math></inline-formula>m peak torque and 12.78-N<inline-formula><tex-math notation="LaTeX">\,\cdot\,</tex-math></inline-formula>m continuous torque, yet has less than 2.68-N<inline-formula><tex-math notation="LaTeX">\,\cdot\,</tex-math></inline-formula>m backdrive torque during walking conditions. Able-bodied human subject experiments (<inline-formula><tex-math notation="LaTeX">N=3</tex-math></inline-formula>) demonstrate reduced quadricep activation with bilateral orthosis assistance during lifting-lowering, sit-to-stand, and stair climbing. The minimal transmission also produces negligible acoustic noise. |
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| AbstractList | 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 actuator has a high package factor that reduces size and weight. Benchtop tests verify that the custom actuator can produce at least 23.9 Nm peak torque and 12.78 Nm continuous torque, yet has less than 2.68 Nm backdrive torque during walking conditions. Able-bodied human subjects experiments (N=3) demonstrate reduced quadriceps activation with bilateral orthosis assistance during lifting-lowering, sit-to-stand, and stair climbing. The minimal transmission also produces negligible acoustic noise. This article 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 actuator has a high package factor that reduces size and weight. Benchtop tests verify that the custom actuator can produce at least 23.9-N<inline-formula><tex-math notation="LaTeX">\,\cdot\,</tex-math></inline-formula>m peak torque and 12.78-N<inline-formula><tex-math notation="LaTeX">\,\cdot\,</tex-math></inline-formula>m continuous torque, yet has less than 2.68-N<inline-formula><tex-math notation="LaTeX">\,\cdot\,</tex-math></inline-formula>m backdrive torque during walking conditions. Able-bodied human subject experiments (<inline-formula><tex-math notation="LaTeX">N=3</tex-math></inline-formula>) demonstrate reduced quadricep activation with bilateral orthosis assistance during lifting-lowering, sit-to-stand, and stair climbing. The minimal transmission also produces negligible acoustic noise. This article 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 actuator has a high package factor that reduces size and weight. Benchtop tests verify that the custom actuator can produce at least 23.9-N[Formula Omitted]m peak torque and 12.78-N[Formula Omitted]m continuous torque, yet has less than 2.68-N[Formula Omitted]m backdrive torque during walking conditions. Able-bodied human subject experiments ([Formula Omitted]) demonstrate reduced quadricep activation with bilateral orthosis assistance during lifting-lowering, sit-to-stand, and stair climbing. The minimal transmission also produces negligible acoustic noise. 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 actuator has a high package factor that reduces size and weight. Benchtop tests verify that the custom actuator can produce at least 23.9 Nm peak torque and 12.78 Nm continuous torque, yet has less than 2.68 Nm backdrive torque during walking conditions. Able-bodied human subjects experiments (N=3) demonstrate reduced quadriceps activation with bilateral orthosis assistance during lifting-lowering, sit-to-stand, and stair climbing. The minimal transmission also produces negligible acoustic noise.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 actuator has a high package factor that reduces size and weight. Benchtop tests verify that the custom actuator can produce at least 23.9 Nm peak torque and 12.78 Nm continuous torque, yet has less than 2.68 Nm backdrive torque during walking conditions. Able-bodied human subjects experiments (N=3) demonstrate reduced quadriceps activation with bilateral orthosis assistance during lifting-lowering, sit-to-stand, and stair climbing. The minimal transmission also produces negligible acoustic noise. |
| Author | Peddinti, Vamsi Zhu, Hanqi Divekar, Nikhil Gregg, Robert D. Nesler, Christopher |
| AuthorAffiliation | 2 Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI 48109, USA 3 Robotics, University of Michigan, Ann Arbor, MI 48109, USA 1 Department of Electrical and Computer Engineering, University of Texas at Dallas, Richardson, TX 75080, USA |
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| Author_xml | – sequence: 1 givenname: Hanqi surname: Zhu fullname: Zhu, Hanqi email: hanqi.zhu@utdallas.edu organization: Department of Electrical and Computer Engineering, University of Texas at Dallas, Richardson, TX, USA – sequence: 2 givenname: Christopher surname: Nesler fullname: Nesler, Christopher email: neslerc@umich.edu organization: Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA – sequence: 3 givenname: Nikhil surname: Divekar fullname: Divekar, Nikhil email: ndivekar@umich.edu organization: Robotics Institute, University of Michigan, Ann Arbor, MI, USA – sequence: 4 givenname: Vamsi surname: Peddinti fullname: Peddinti, Vamsi email: svkp@umich.edu organization: Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA – sequence: 5 givenname: Robert D. orcidid: 0000-0002-0729-2857 surname: Gregg fullname: Gregg, Robert D. email: rdgregg@umich.edu organization: Department of Electrical and Computer Engineering and the Robotics Institute, University of Michigan, Ann Arbor, MI, USA |
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| SubjectTerms | Acoustic noise Actuation Actuator design Actuators Brushless motors Coils (windings) exoskeletons Gear ratios Gear trains Gears Knee Medical robotics Orthoses Patient rehabilitation Permanent magnet motors Principles rehabilitation robotics Rotors Stator windings Thermal environments Torque |
| Title | Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses |
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