Sensory-motor impairments due to age or neurological diseases can influence a person's ability to maintain balance, and increase the risk of falls. Recently, wearable Control Moment Gyroscopes (CMGs) have proven to provide effective balance support. Here, we show a new design of a Series-Elastic Control Moment Gyroscope (SECMG) enhanced by an additional passive degree of freedom, namely a second, orthogonal gimbal that is supported by a (visco)elastic element. The design mainly aims to reject disturbances originating from human movement and render a low remaining impedance, as well as to provide more accurate torque sensing, based on angular deflection of the compliant element. Evaluation of the torque tracking performance with regards to a classic rigid Single-Gimbal Control Moment Gyroscope (SGCMG) showed that the device equally exceeds the bandwidth requirements for its application in human augmentation. However, characterization of our current compliant construction also revealed some backlash occluding the torque-deflection relation. In the future, the SECMG could be evaluated in experiments with humans, to validate its predicted low remaining impedance.
|Title of host publication||2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Publication status||Published - 12 Jul 2021|
|Event||2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands|
Duration: 12 Jul 2021 → 16 Jul 2021
|Series||IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM|
|Conference||2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021|
|Period||12/07/21 → 16/07/21|
Bibliographical noteFunding Information:
This research was supported by the U.S. Department of Education, National Institute on Disability and Rehabilitation Research, NIDRR-RERC, Grant No. H133E120010 and the Innovational Research Incentives Scheme Vidi with Project No. 14865, from The Netherlands Organization for Scientific Research (NWO). Charlotte Marquardt was supported by an ERASMUS+ traineeship grant and by the INOPRO project (16SV7665) funded by the German Federal Ministry of Education and Research (BMBF).
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