Characterization of a series viscous actuator for use in rehabilitative robotics
Name
682162804-MIT.pdf
Description
Full printable version
Size
1.49 MB
Format
Adobe PDF
Checksum (MD5)
b6edc51546d4b562496abc6490759954
Author(s)
Wiltsie, Nicholas Eric
Advisor(s)
Neville Hogan.
Alternative Title
Characterization of an SVA for use in rehabilitative robotics
Date Issued
2010
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, a series viscous actuator, composed of a viscous rotary damper connected to the output of a geared electric motor, is proposed as a novel solution to the high actuator impedances encountered when using such a motor. High impedances can be undesirable when interacting with the environment or animal subjects as unexpected forces may damage already-compromised joints. A state space model for the series viscous actuator was derived and verified by measurements upon a physical system. Physical design considerations for implementing a series viscous actuator, such as the appropriate gearing ratio and damper selection, are discussed and supported using the derived model.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
Cataloged from PDF version of thesis.
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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reproduction or distribution in any format is prohibited without written
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