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

• Published in: IEEE/ASME transactions on mechatronics Vol. 26; no. 6; pp. 3104 - 3115
• Main Authors: Zhu, Hanqi, Nesler, Christopher, Divekar, Nikhil, Peddinti, Vamsi, Gregg, Robert D.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.12.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: 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

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...