%0 Conference Paper %1 Pott2013e %A Pott, Peter P. %A Graefenstein, Helge %A Fischer, Jakob %A Müller, Roman %A Schlaak, Helmut F. %A Abele, Eberhard %B 9.GMM/ETG-Fachtagung - Innovative Klein- und Mikroantriebstechnik %C Nürnberg %D 2013 %K imported imt-pott-alt %T Series Elastic Actuators for Man-Machine Cooperation %U http://tubiblio.ulb.tu-darmstadt.de/62668/ %X Series Elastic Actuators (SEA) provide good characteristics for man-machine cooperation. Also, zero-torque control becomes possible. The paper presents an example of a series elastic actuator on an active knee ankle foot orthosis (KAFO) to support elderly people. A conventional DC motor with a planetary gearing and cylindrical spring is attached to the knee joint of the orthosis. A state space controller with disturbance observer is used to control the sit-to-stand (STS) movement. It becomes clear, that the slender design of the actuator is useful but for convenient daily activities a smaller SEA is needed. This could be accomplished by using special spring designs produced by the selective laser melting method.

@inproceedings{Pott2013e, abstract = {Series Elastic Actuators (SEA) provide good characteristics for man-machine cooperation. Also, zero-torque control becomes possible. The paper presents an example of a series elastic actuator on an active knee ankle foot orthosis (KAFO) to support elderly people. A conventional DC motor with a planetary gearing and cylindrical spring is attached to the knee joint of the orthosis. A state space controller with disturbance observer is used to control the sit-to-stand (STS) movement. It becomes clear, that the slender design of the actuator is useful but for convenient daily activities a smaller SEA is needed. This could be accomplished by using special spring designs produced by the selective laser melting method.}, added-at = {2017-10-26T19:04:07.000+0200}, address = {N{\"u}rnberg}, author = {Pott, Peter P. and Graefenstein, Helge and Fischer, Jakob and M{\"u}ller, Roman and Schlaak, Helmut F. and Abele, Eberhard}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/24d6506324afa13600a8e7a76934e3ad1/droessler}, booktitle = {9.GMM/ETG-Fachtagung - Innovative Klein- und Mikroantriebstechnik}, groups = {public}, interhash = {105bd5c1dab0a762f0c85a171975754f}, intrahash = {4d6506324afa13600a8e7a76934e3ad1}, keywords = {imported imt-pott-alt}, month = {September}, timestamp = {2018-02-28T22:16:18.000+0100}, title = {Series Elastic Actuators for Man-Machine Cooperation}, url = {http://tubiblio.ulb.tu-darmstadt.de/62668/}, username = {droessler}, year = 2013 }