Dış iskelet Robot Eklemleri için Antagonisttik ve Öngerilmeli Tip Sertliği Değiştirilebilir Eyleyici Tasarımlarında Güç Gereksinimi ve Enerji Sarfiyatı Karşılaştırması
2015
KIZILHAN, Hasbi | BAŞER, Özgür | KILIÇ, Ergin | ULUSOY, Necati
Exoskeleton robots are wearable electromechanical structures which can work interacting with human limbs. These robots are used as assistive limbs, rehabilitation and power augmentation purposes for elderly or paralyzed persons and healthy persons respectively. The similarity of the design and control between the exoskeleton robots and human body maximizes the device performance. Human body neuro-muscular system varies the stiffness of the human joints regularly and thus provides flexible and safe movement capability with minimum energy consumption. The studies on the variable stiffness actuator designs are stil moving along rapidly in the present time. The leading ones are antagonistic and pretension type variable stiffness actuators. Exoskeleton robots need to be drived energy efficiently and with less power requirements as they are mobile devices supplied by batteries. In this study, antagonistic and pretension type variable stiffness actuator designs of ankle joint are compared in terms of energy efficiency and power requirement for
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