Design and Characteristic Analysis of a Novel Compact Torsion Spring for Assistive Exoskeleton Robots
To improve traditional rigid exoskeletons in terms of human-machine interaction flexibility and safety, a novel compact torsion spring was developed for lower limb joint assistance in this study. The flexibility of the torsion spring drive was enhanced by the deformation of elastic elements between...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/11059933/ |
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| author | Mingxing Yang Taohong Jia Yue Yang Shiliang Liu Tao Zhou |
| author_facet | Mingxing Yang Taohong Jia Yue Yang Shiliang Liu Tao Zhou |
| author_sort | Mingxing Yang |
| collection | DOAJ |
| description | To improve traditional rigid exoskeletons in terms of human-machine interaction flexibility and safety, a novel compact torsion spring was developed for lower limb joint assistance in this study. The flexibility of the torsion spring drive was enhanced by the deformation of elastic elements between inner and outer rings and three limiting beams were added between elastic bodies to improve its intensity. Subsequently, the overall quality, maximum stress, and maximum deformation were selected as optimization objectives and the size of the torsion spring was optimized with finite element method. To verify the stable stiffness characteristics of the design scheme under different load conditions, finite element simulation and experimental data were respectively utilized to fit the torque and torsion angle variables in MATLAB. Finally, a performance testing experimental platform for the torsion spring was established to experimentally analyze its stiffness characteristics and position tracking performance. The feasibility of the torsion spring was confirmed through experiments on exoskeleton following human walking. |
| format | Article |
| id | doaj-art-46c0afdb1d6841e9a435dadcb039efde |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-46c0afdb1d6841e9a435dadcb039efde2025-08-20T03:28:40ZengIEEEIEEE Access2169-35362025-01-011311515111515910.1109/ACCESS.2025.358464611059933Design and Characteristic Analysis of a Novel Compact Torsion Spring for Assistive Exoskeleton RobotsMingxing Yang0https://orcid.org/0000-0001-6327-2263Taohong Jia1Yue Yang2Shiliang Liu3Tao Zhou4Department of Spinal Orthopaedics, Ma’anshan People’s Hospital, Maanshan, ChinaSchool of Mechanical Engineering, Anhui University of Technology, Maanshan, ChinaDepartment of Spinal Orthopaedics, Ma’anshan People’s Hospital, Maanshan, ChinaChina Ship Development and Design Center, Wuhan, ChinaDepartment of Spinal Orthopaedics, Ma’anshan People’s Hospital, Maanshan, ChinaTo improve traditional rigid exoskeletons in terms of human-machine interaction flexibility and safety, a novel compact torsion spring was developed for lower limb joint assistance in this study. The flexibility of the torsion spring drive was enhanced by the deformation of elastic elements between inner and outer rings and three limiting beams were added between elastic bodies to improve its intensity. Subsequently, the overall quality, maximum stress, and maximum deformation were selected as optimization objectives and the size of the torsion spring was optimized with finite element method. To verify the stable stiffness characteristics of the design scheme under different load conditions, finite element simulation and experimental data were respectively utilized to fit the torque and torsion angle variables in MATLAB. Finally, a performance testing experimental platform for the torsion spring was established to experimentally analyze its stiffness characteristics and position tracking performance. The feasibility of the torsion spring was confirmed through experiments on exoskeleton following human walking.https://ieeexplore.ieee.org/document/11059933/Rigid exoskeletonhuman-machine interactiontorsion springcompliant actuationstiffness characteristics |
| spellingShingle | Mingxing Yang Taohong Jia Yue Yang Shiliang Liu Tao Zhou Design and Characteristic Analysis of a Novel Compact Torsion Spring for Assistive Exoskeleton Robots IEEE Access Rigid exoskeleton human-machine interaction torsion spring compliant actuation stiffness characteristics |
| title | Design and Characteristic Analysis of a Novel Compact Torsion Spring for Assistive Exoskeleton Robots |
| title_full | Design and Characteristic Analysis of a Novel Compact Torsion Spring for Assistive Exoskeleton Robots |
| title_fullStr | Design and Characteristic Analysis of a Novel Compact Torsion Spring for Assistive Exoskeleton Robots |
| title_full_unstemmed | Design and Characteristic Analysis of a Novel Compact Torsion Spring for Assistive Exoskeleton Robots |
| title_short | Design and Characteristic Analysis of a Novel Compact Torsion Spring for Assistive Exoskeleton Robots |
| title_sort | design and characteristic analysis of a novel compact torsion spring for assistive exoskeleton robots |
| topic | Rigid exoskeleton human-machine interaction torsion spring compliant actuation stiffness characteristics |
| url | https://ieeexplore.ieee.org/document/11059933/ |
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