Analysis and Validation of Sensitivity in Torque-Sensitive Actuators

Details

• Personal Author:
  Gabert L ; Lenzi T ; Tran M
• Description:
  Across different fields within robotics, there is a great need for lightweight, efficient actuators with human-like performance. Linkage-based passive variable transmissions and torque-sensitive transmissions have emerged as promising solutions to meet this need by significantly increasing actuator efficiency and power density, but their modeling and analysis remain an open research topic. In this paper, we introduce the sensitivity between input displacement and output torque as a key metric to analyze the performance of these complex mechanisms in dynamic tasks. We present the analytical model of sensitivity in the context of two different torque-sensitive transmission designs, and used this sensitivity metric to analyze the differences in their performance. Experiments with these designs implemented within a powered knee prosthesis were conducted, and results validated the sensitivity model as well as its role in predicting actuators' dynamic performance. Together with other design methods, sensitivity analysis is a valuable tool for designers to systematically analyze and create transmission systems capable of human-like physical behavior. [Description provided by NIOSH]
• Subjects:
  Biomechanical Phenomena Occupational Health Safety
• Keywords:
  Author Keywords: Torque-sensitive Actuator Biomechanical Engineering Biomechanics Compliant Actuator Legged Locomotion Mechanical Properties Prosthetic Devices Prosthetics Robotics Variable Transmission
• ISSN:
  2076-0825
• Document Type:
  Text
• Funding:
  Grant
• Genre:
  Journal Article
• Place as Subject:
  OSHA Region 8 ; Utah
• CIO:
  National Institute for Occupational Safety and Health (NIOSH)
• Topic:
  Workplace Safety & Health
• Location:
  North America
• Pages in Document:
  80
• Volume:
  12
• Issue:
  2
• NIOSHTIC Number:
  nn:20067735
• Citation:
  Actuators 2023 Feb; 12(2):80
• Contact Point Address:
  Tommaso Lenzi, Department of Mechanical Engineering, The Robotics Center, University of Utah, Salt Lake City, UT 84112, USA
• Email:
  t.lenzi@utah.edu
• Federal Fiscal Year:
  2023
• Performing Organization:
  University of Utah
• Peer Reviewed:
  True
• Start Date:
  20050701
• Source Full Name:
  Actuators
• End Date:
  20280630
• Collection(s):
  National Institute for Occupational Safety and Health
• Main Document Checksum:
  urn:sha-512:466d51425e0b6b7eb20077453f084b777168bc8af91c05d5576df0419428c203696cbf8dd6db6f8eb312e8a8d3db2e799a4af390f994aa10d976c6b1124a2ebf
• Download URL:
  https://stacks.cdc.gov/view/cdc/229997/cdc_229997_DS1.pdf
• File Type:
  [PDF - 3.72 MB ]