Peter P. Pott, Roman Müller, Markus Grün, Ulrich Konigorski, Helmut F. Schlaak
September 12, 2013
Active knee orthoses can be used to allow the elderly comfortable everyday living in their familiar environment. To actuate these devices, serial-elastic actuators (SEA) prove to be advantageous as their controllability in close contact to the user is better when compared to directly coupled geared DC motors. SEA, in addition, usually provide a better overall system power-to-weight ratio than fluidic actuators or direct drive electrodynamic actuators. In the following, the selection and the dimensioning of an SEA for an active knee orthosis, its control strategy using a state-space controller, and first experimental results as well as their relation to the state of the art are presented.