上肢ソフト外骨格用3D腱シースアクチュエータシステムのモデリングとパラメトリック最適化
Modeling and parametric optimization of 3D tendon-sheath actuator system for upper limb soft exosuit
上肢支援ソフト外骨格のための腱シースアクチュエータについて、腱の弛みを抑える数学モデルを構築し、直列ばねや予張力などのパラメータを最適化した研究。
著者: Amit Yadav, Nitesh Kumar, Shaurya Surana, Aravind Ramasamy, Abhishek Rudra Pal, Sushma Santapuri, Lalan Kumar, Suriya Prakash Muthukrishnan, Shubhendu Bhasin, Sitikantha Roy
分類: cs.RO
原文アブストラクト
This paper presents an analysis of parametric characterization of a motor driven tendon-sheath actuator system for use in upper limb augmentation for applications such as rehabilitation, therapy, and industrial automation. The double tendon sheath system, which uses two sets of cables (agonist and antagonist side) guided through a sheath, is considered to produce smooth and natural-looking movements of the arm. The exoskeleton is equipped with a single motor capable of controlling both the flexion and extension motions. One of the key challenges in the implementation of a double tendon sheath system is the possibility of slack in the tendon, which can impact the overall performance of the system. To address this issue, a robust mathematical model is developed and a comprehensive parametric study is carried out to determine the most effective strategies for overcoming the problem of slack and improving the transmission. The study suggests that incorporating a series spring into the system's tendon leads to a universally applicable design, eliminating the need for individual customization. The results also show that the slack in the tendon can be effectively controlled by changing the pretension, spring constant, and size and geometry of spool mounted on the axle of motor.
