単一モーターと切り替え機構によるソフト外骨格の独立拮抗駆動
Switch-based Independent Antagonist Actuation with a Single Motor for a Soft Exosuit
1つのモーターとケーブル切り替え機構を用いて、ソフト外骨格の拮抗する2本のケーブルを独立に駆動する方法を提案し、切り替えに約298msを要することを示した。
著者: Atharva Vadeyar, Rejin John Varghese, Etienne Burdet, Dario Farina
分類: cs.RO
原文アブストラクト
The use of a cable-driven soft exosuit poses challenges with regards to the mechanical design of the actuation system, particularly when used for actuation along multiple degrees of freedom (DoF). The simplest general solution requires the use of two actuators to be capable of inducing movement along one DoF. However, this solution is not practical for the development of multi-joint exosuits. Reducing the number of actuators is a critical need in multi-DoF exosuits. We propose a switch-based mechanism to control an antagonist pair of cables such that it can actuate along any cable path geometry. The results showed that 298.24ms was needed for switching between cables. While this latency is relatively large, it can reduced in the future by a better choice of the motor used for actuation.
