Advance in Flexible Variable Stiffness Actuator of Rehabilitation Robot (review)
10.3969/j.issn.1006-9771.2021.00.002
- VernacularTitle:康复机器人柔顺变刚度驱动机构研究进展
- Author:
Sheng LU
1
;
Bing-shan HU
1
;
Ke CHENG
1
;
Hong-liu YU
1
;
Wei NI
1
Author Information
1. Institute of Rehabilitation Engineering and Technology, Shanghai 200093, China
- Publication Type:Research Article
- Keywords:
variable stiffness;
flexiblity;
rehabilitation robot;
review
- From:
Chinese Journal of Rehabilitation Theory and Practice
2021;27(6):627-636
- CountryChina
- Language:Chinese
-
Abstract:
Flexible variable stiffness actuator is divided into four categories including elastic element, pneumatic element, electric-magnetic element and intelligent material. It is gradually applied in rehabilitation robot. It could adapt the change of patient's impedance in the upper and lower limb rehabilitation robots, ensure the safety of the wearer in the exoskeleton, and improve the biomimetics in the prosthesis. Variable stiffness driving mechanism for rehabilitation robot still has some disadvantages. It is proposed to have compact structure, low power consumption, good stiffness characteristics, high response rate and progressive output torque curve, etc.
