Design Principles for Compact, Backdrivable Actuation in Partial-Assist Powered Knee Orthoses - Zhu, Hanqi; Nesler, Christopher; Divekar, Nikhil; Peddinti, Vamsi; Gregg, Robert D. (IEEE/ASME transactions on mechatronics, 2021)
Keywords: 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