MAMONET: An exotendon-driven rotary series elastic actuator for exerting joint torque

James S. Sulzer*, Michael A. Peshkin, James L. Patton

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Scopus citations

Abstract

A cable-driven, rotary Series Elastic Actuator named MARIONET (Moment arm Adjustment for Remote Induction Of Net Effective Torque) is introduced as a novel means to deliver torque to a joint. Its advantages include remote actuation, independent control of compliance and equilibrium, and in future versions, the ability to span multiple joints. This cable-driven, compliant mechanism should prove very useful in a variety of human-robot interactions. Here we present a single joint device evaluated in terms of its position and torque step responses, its ability to follow a minimum jerk trajectory, and its ability to create torque fields. Results show that this device behaves as planned with several important limitations. We conclude with potential applications of this type of mechanism.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Pages103-108
Number of pages6
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 - Chicago, IL, United States
Duration: Jun 28 2005Jul 1 2005

Publication series

NameProceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics
Volume2005

Other

Other2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
CountryUnited States
CityChicago, IL
Period6/28/057/1/05

ASJC Scopus subject areas

  • Engineering(all)

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