The passive series stiffness that optimizes torque tracking for a lower-limb exoskeleton in human walking

• Main Authors: Zhang, Juanjuan, Collins, Steven H.
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2018
• Subjects: Series Elastic Actuators; Lower-limb Exoskeletons
• Online Access: https://hdl.handle.net/10356/86203; http://hdl.handle.net/10220/45382
• Institution: Nanyang Technological University

This study uses theory and experiments to investigate the relationship between the passive stiffness of series elastic actuators and torque tracking performance in lower-limb exoskeletons during human walking. Through theoretical analysis with our simplified system model, we found that the optimal p...