Various actuator topologies are discussed for the purpose of powering periodic processes\nand particularly walking robots. The Clutched Parallel Elastic Actuator (CPEA) is proposed to reduce\nthe energy consumption of active exoskeletons. A nonlinear model of the CPEA is presented in\naddition to the mechanical design. The CPEA prototype is operated with a passive load on the\nwalking trajectory of the hip joint. The actuator is controlled with a cascaded position control and a\nsuperimposed Iterative Learning Controller (ILC). The controller was chosen to ensure comparability\nbetween active and deactivated spring operation. The application of the CPEA has the potential to\nincrease efficiency in the design of exoskeletons.
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