Development of a Variable Stiffness Mechanism with a Linear Output for Exosuit Integration
Tim Verburg (Student TU Delft)
S.D. Joshi (TU Delft - Learning & Autonomous Control)
Ajay Seth (TU Delft - Biomechatronics & Human-Machine Control)
C. Lieu (Deutsches Zentrum für Luft- und Raumfahrt (DLR), TU Delft - Learning & Autonomous Control)
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Abstract
People suffering from conditions affecting their activities of daily living and those who do straining repetitive tasks could be assisted using supportive devices. These devices have generally been stiff in design, with more recent advances exploring soft suits, removing the need for heavier structural components. These supportive devices are often fitted with rigid actuators that lack inherent compliance and rely on feedback to regulate the assistive force. Compl iant actuators able to control stiffness and pretension have only been applied in rigid assistive devices with these devices being designed for controllable stiffness in rotation and not linear motion. This work briefly presents the results of a user study on the effects of a compliant actuator in a soft supportive device for arm flexion, the development and testing of a variable linear stiffness mechanism for a linear motion capable of controlling the stiffness and equilibrium position, and the integration of said actuator in an exosuit.