Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle

Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy efficient series elastic actuators use an optimization formu...

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Veröffentlicht in:	arXiv.org 2019-02
Hauptverfasser:	Bolívar, Edgar, Rezazadeh, Siavash, Summers, Tyler, Gregg, Robert D
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Convexity D C motors Design optimization Electric motors Elongation Energy conservation Energy consumption Kinematics Modulus of elasticity Product design Prostheses Quadratic equations Rehabilitation Robust design Stiffness Torque Uncertainty
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