Design and control of an active knee orthosis driven by a rotary Series Elastic Actuator

摘要: Abstract Active orthosis is one of the main research topics in field motor recovery. This paper deals with design and control an active knee driven by a customized rotary Series Elastic Actuator (SEA). The proposed actuator includes DC motor, worm gear torsion spring. Since elastic element most important component SEA design, finite analysis spring performed to meet specific requirements for assistance. Torque impedance are implemented ensure secure interaction patient enable new strategies rehabilitation. torque controller, cascaded inner velocity loop, based on H ∞ criterion achieve good system performance relation parametric uncertainties external disturbances. using PD position controller cascade where outer determines desired according errors parameters. A variable strategy then show possibility regulate joint during walking. Experiments considering between subject evaluate controllers.