Modeling and Dynamic performance of Energy Storage -Rotary Series Elastic Actuator for Lumbar Support Exoskeleton

摘要

Assistive exoskeletons are rapidly being developed to collaborate with humans, and the demand for the safety of human-robot interaction has become more crucial. Series elastic actuators (SEAs) have recently been developed for various possible advantages, such as providing a safe human-robot interaction, reducing the impacts' effects, and increasing energy efficiency. However, achieving good dynamic performances of SEAs is still challenging, especially in fulfilling the high bandwidth with good compliance. In this rapidly growing research field, the actuation system involving the storage device combined with the rotary series elastic actuator (ES-RSEA) is being investigated to exploit the biomechanical energy while maintaining compliance features. In this article, the modeling and control design of the energy storage rotary series elastic actuator (ES-RSEA) for the lumbar support exoskeleton is proposed, and its dynamic performances are analyzed. The ES-RSEA was designed to store kinetic energy during lifting tasks and generate assistive torque while maintaining excellent compliant characteristics. The dynamic performances and characteristics of ES-RSEA are presented in terms of force sensitivity, level of compliance, transmission ratio, and bandwidth. Simulation studies indicate that the actuator can provide excellent dynamic performance through its high bandwidth (12.44 Hz) and high force sensitivity. At the same time, it shows excellent compliance and good torque transmissibility in the low-frequency range. A PID controller can achieve high torque tracking performance and good dynamic response with a root-mean-square (RMS) error of 0.1 N.m. This article demonstrates the excellent performance and characteristics of ES-RSEA to guarantee compliance and high response to prevent injury of undesired human movements.