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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.
Terms of use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582
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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.
 
Date issued
2010
URI
http://hdl.handle.net/1721.1/60209
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.

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