A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation

Jaewook Oh, Soojun Lee, Myo Taeg Lim, Junho Choi

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

3 Citations (Scopus)

Abstract

This paper presents a Mechanically Adjustable Stiffness Actuator(MASA) for knee rehabilitation of stroke patients. The MASA is designed for safer and more effective physical human-robot interaction with patients in rehabilitation. The MASA consists of cantilever springs, a double-tripod parallel mechanism, and a torque limiter. Using the double-tripod parallel mechanism and two identical actuators, the effective length and the resting position of the cantilever springs are controlled independently. Changes of the effective length of the cantilever springs result in variation of the stiffness of the MASA. One end of each cantilever springs is attached to an axis via the torque limiter. When an external torque beyond the preset threshold is applied from and to the axis, the torque limiter is released so the axis rotates freely regardless of the position of the actuators. The MASA is used for a knee rehabilitation robot. Due to the springs and the torque limiter, physical safety of the patients is guaranteed in case of unexpected involuntary muscle activities (i.e. spasticity) during a therapy session. With changing stiffness of the MASA, the amount of assistance by the robot is possible to be adjusted.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3384-3389
Number of pages6
DOIs
Publication statusPublished - 2014 Sep 22
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CountryChina
CityHong Kong
Period14/5/3114/6/7

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Oh, J., Lee, S., Lim, M. T., & Choi, J. (2014). A Mechanically adjustable stiffness actuator(MASA) of a robot for knee rehabilitation. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3384-3389). [6907346] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907346