This paper presents the design and experimental results of a proprioceptive, high-bandwidth quasi-direct drive (QDD) actuator for highly dynamic robotic applications. A comprehensive review of the mechanical design of the PULSE115-60 actuator is presented, with particular focus on the design parameters affecting the dynamic performance of the actuator and a full specification is provided. Fundamental parameters to describe the dynamic behaviour of an actuator are discussed, and an experimental method to determine speed and torque bandwidth of the actuator is presented. A rigorous method to determine backdrive torque is also explained. Finally, experimental results quantifying the dynamic performance of the PULSE115-60 actuator are discussed. The PULSE115-60 actuator has a highly dynamic response, surpassing the torque bandwidth at low torque amplitudes showcased in state-of-the-art literature. The differences between current and torque bandwidth, two concepts often conflated in literature, are elucidated. Experimental procedures detailed in previous work are discussed and a novel standardised procedure is proposed for robust characterisation and fair comparison of different actuation systems. Finally, performance results for PULSE115-60 are presented, demonstrating a torque bandwidth of 66.3 Hz at an amplitude of 6 N•m, ±0.11° of backlash and 0.37 N•m of backdrive torque.

Design and Experimental Characterisation of a Novel Quasi-Direct Drive Actuator for Highly Dynamic Robotic Applications

Exoskeleton technology has undergone significant developments for the adult population but is still lacking for the pediatric population. This paper presents the design of a hip–knee exoskeleton for children 6 to 11 years old with gait abnormalities. The actuators are housed in an adjustable exoskeleton frame where the thigh part can adjust in length and the hip cradle can adjust in the medial-lateral and posterior-anterior directions concurrently. Proper control of exoskeletons to follow nominal healthy gait patterns in a time-invariant manner is important for ease of use and user acceptance. In this paper, a hybrid zero dynamics (HZD) controller was designed for gait guidance by defining the zero dynamics manifold to resemble healthy gait patterns. HZD control utilizes a time-invariant feedback controller to create dynamically stable gaits in robotic systems with hybrid models containing both discrete and continuous dynamics. The effectiveness of the controller on the novel pediatric exoskeleton was demonstrated via simulation. The presented preliminary results suggest that HZD control provides a viable method to control the pediatric exoskeleton for gait guidance.

/pdf/hybrid-zero-dynamics-control-for-gait-guidance-of-a-novel-2orc6lej.pdf

Hybrid Zero Dynamics Control for Gait Guidance of a Novel Adjustable Pediatric Lower-Limb Exoskeleton

The development of powered assistive devices that integrate exoskeletal motors and muscle activation for gait restoration benefits from actuators with low backdrive torque. Such an approach enables motors to assist as needed while maximizing the joint torque muscles, contributing to movement, and facilitating ballistic motions instead of overcoming passive dynamics. Two electromechanical actuators were developed to determine the effect of two candidate transmission implementations for an exoskeletal joint. To differentiate the transmission effects, the devices utilized the same motor and similar gearing. One actuator included a commercially available harmonic drive transmission while the other incorporated a custom designed two-stage planetary transmission. Passive resistance and mechanical efficiency were determined based on isometric torque and passive resistance. The planetary-based actuator outperformed the harmonic-based actuator in all tests and would be more suitable for hybrid exoskeletons.

Transmission Comparison for Cooperative Robotic Applications

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Transmission Comparison for Cooperative Robotic Applications