On the use of adaptable compliant actuators in prosthetics, rehabilitation and assistive robotics

摘要

New robotic technologies are unable to compensate for the many drawbacks that come along with conventional electrical actuators, like high inertia, high stiffness and low force-to-weight ratio. These new robotic applications can strongly benefit from compliant actuator technology. Instead of introducing compliance on the control level, this approach is based on the use of inherent adaptable compliance on a purely mechanical level. In this way intrinsic compliance is assured at all time, enhancing system safety. The added mechanical complexity is easily countered with the range of potential benefits, adding value to existing applications and also creating new applications in robotics. The use of adaptable compliant actuators in applications as prosthetics, rehabilitation and assistive robotics is discussed in view of control, efficiency and safety.