Design of a compliant joint actuator for lower-limb exoskeleton robot

Abstract

For the rigid actuators of conventional exoskeletons are prone to produce motion impact and jitter, so this paper presents a novel design of compliant joint actuator for solve this situation. For the patient with lower limb disability lose the force perception will lead to them can't perceive the movement impact of the exoskeleton, which can reduce the rehabilitation effect or may cause secondary damage to the wearer. The new areas of robotic actuation have been established that requires more versatile structure. The design of new joint actuator adds compliant mechanism in motion transmission part which has a buffer effect to inhibit the external impacts and shocks, and can measure the output torque of the actuator. And in this paper, the detailed design of the exoskeleton structure is proposed based on the concept of compliant actuator. The content of this paper focuses on the mechanism design of the device and makes finite element simulation in ANSYS. Finally, simulation results of the compliant mechanism can describe the design for new actuator which aims at providing a more friendly interaction than existing exoskeleton actuator.