역구동형 하지 웨어러블 로봇을 위한 Sensorless 자동 연속 가변 변속기 장치 설계 및 최적화

Abstract

Lower-limb exoskeletons have been developed to assist in movement in daily life and rehabilitation of the elderly and patients. The efficiency of the actuator, a lightweight and compact structure, and high precision of intent recognition are some of the important features of these exoskeletons. However, lower-limb exoskeletons that can assist with various movements such as walking and sit-to-stand actions while providing back-drivability do not exist. To fulfill this requirement, this paper presents the design and optimization of sensorless automatic continuously variable transmission applicable to back-drivable lower-limb exoskeletons. This mechanism can change the transmission ratio depending on the external load without the use of sensors or an intent-recognition algorithm while ensuring the back-drivability of these exoskeletons.