Design and evaluation of pint-sized gyroscopic actuators

Cory Meijneke, Bram Sterke, Giel Hermans, Wouter Gregoor, Heike Vallery, Daniel Lemus

Research output: Chapter/Conference proceedingConference proceedingAcademicpeer-review

5 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages454-461
Number of pages8
ISBN (Electronic)9781665441391
DOIs
Publication statusPublished - 12 Jul 2021
Event2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands
Duration: 12 Jul 202116 Jul 2021

Publication series

SeriesIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2021-July

Conference

Conference2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
Country/TerritoryNetherlands
CityDelft
Period12/07/2116/07/21

Bibliographical note

Funding Information:
This research was supported by the U.S. Department of Education, National Institute on Disability and Rehabilitation Research, NIDRR-RERC, Grant No. H133E120010, by the Innovational Research Incentives Scheme Vidi with Project No. 14865, from The Netherlands Organization for Scientific Research (NWO), and by Medical Delta.

Publisher Copyright:
© 2021 IEEE.

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