Design and evaluation of pint-sized gyroscopic actuators

Conference paper (2021)

Authors

C. Meijneke EMSD EEMCS Project engineers1
B.T. Sterke Erasmus MC, Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
G.P. Hermans EMSD EEMCS Project engineers
W.F. Gregoor EMSD EEMCS Project engineers1
H. Vallery Erasmus MC, Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
D.S. Lemus Perez Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering , Erasmus MC
Research Group
Biomechatronics & Human-Machine Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
CMG Assistive device Control moment gyroscope Flywheel speed
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Published Date

2021

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Biomechatronics & Human-Machine Control

Abstract

One important aspect of gait stability is the control of whole-body centroidal angular momentum H. We recently showed that if sensory-motor impairments affect a person's balance control, control of H can be assisted by control moment gyroscopes (CMGs). However, the effect of CMG technology inherently depends on the size and weight of these actuators, and on the speed of the flywheels they contain. These factors all pose challenges for wearable applications. Here, we show that it is possible to design CMGs light enough for wearable applications, while generating meaningful output torques. Our CMG, weighing 1.187 kg, can exert a peak torque of 15 N m with a torque-tracking bandwidth of 18 Hz. These results are partly due to an integrated model of components and partly to advancements in flywheel velocity control, allowing the speed to safely reach 20 000 rpm. These actuators open up new pathways of building wearable assistive devices for clinical applications.