论文信息 - Actuator Sizes in Bio-Robotic Walking Orthoses

Actuator Sizes in Bio-Robotic Walking Orthoses

This paper presents investigations into analysis of energy storage and reductions in size that are possible in designing powered orthoses. A full scale new bipedal humanoid model based on anthropometric data of human is developed with human locomotion pattern to evaluate power and torque profiles at the joints. Current power sources that meet the required specifications are bulky and heavy. These are discussed and the way forward to reduce the size of actuators and sources of power, based on concepts of energy storage and energy conservation is high-lighted in the paper.

M. O. Tokhi | S. C. Gharooni | G. S. Virk

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