协作机器人,或者协作机器人,由于它们能够在共享环境中与人类一起安全运行而变得流行。这些机器人使用顺应性致动器作为关键设计元素,以防止意外碰撞期间的损坏。在假肢和矫形应用中,兼容的执行器对于确保用户的安全和舒适至关重要。然而,这些应用程序的大多数兼容cobot都过于昂贵和复杂。我们的研究介绍了一种创新,成本效益高,和传感器弹性致动器设计定制的假肢和矫形器。该设计采用模块化方法,并利用3D打印技术进行快速定制,实现高效和负担得起的制造。硬件和软件组件都是开源的,促进学生不受限制的访问,研究人员,和实践者。我们的设计支持阻抗和导纳控制技术,增强系统的能力。验证结果显示,在阻抗控制中计算的和测量的转矩之间的标准偏差为9.67Nm,在导纳控制中计算的和测量的角度之间的标准偏差为0.2563弧度。这允许改善对假肢和矫形器中变化的操作要求的适应性。通过引入这个包含低成本的教育框架,传感弹性执行器设计,我们的目标是解决在协作机器人领域的假肢和矫形器的解决方案的需要。
Collaborative robots, or cobots, have become popular due to their ability to safely operate alongside humans in shared environments. These robots use compliant actuators as a key design element to prevent damage during unintended collisions. In prosthetic and orthotic applications, compliant actuators are crucial for ensuring user safety and comfort. However, most compliant cobots for these applications are excessively expensive and complex to construct. Our study introduces an innovative, cost-effective, and sensorised elastic actuator design tailored for
prosthetics and orthotics. The design uses a modular approach and leverages 3D printing technology for rapid customisation, enabling efficient and affordable fabrication. Both hardware and software components are open-source, facilitating unrestricted access for students, researchers, and practitioners. Our design supports impedance and admittance control techniques, enhancing the system\'s capabilities. Validation results show a standard deviation of 9.67 Nm between calculated and measured torque in impedance control and 0.2563 radians between calculated and measured angles in admittance control. This allows for improved adaptability to varying operational requirements in
prosthetics and orthotics. By introducing this educational framework encompassing a low-cost, sensorised elastic actuator design, we aim to address the need for accessible solutions in the field of collaborative robotics for
prosthetics and orthotics.