2026-09-19T10:08:45Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/602092022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Neville Hogan.
Wiltsie, Nicholas Eric
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-12-06T17:38:21Z
2010-12-06T17:38:21Z
2010
2010
http://hdl.handle.net/1721.1/60209
682162804
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
Cataloged from PDF version of thesis.
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.
by Nicholas Eric Wiltsie.
S.B.
24 p.
eng
Massachusetts Institute of Technology
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
Mechanical Engineering.
Characterization of a series viscous actuator for use in rehabilitative robotics
Characterization of an SVA for use in rehabilitative robotics
Thesis
application/pdf
Publication
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unknown
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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.</Abstract>
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