Characterization of a series viscous actuator for use in rehabilitative robotics
Author(s)
Wiltsie, Nicholas Eric
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Alternative title
Characterization of an SVA for use in rehabilitative robotics
Other Contributors
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Advisor
Neville Hogan.
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Show full item recordAbstract
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.
Date issued
2010Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringPublisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.