What:

This project presents a novel actuator designed for the hip and ankle joint, integrating a 90 KV BLDC motor driving a gearbox with a 9:1 overall reduction ratio. The actuator offers significant force generation capabilities and precise force control, enhancing mobility aids without requiring external balancing forces.

How:

The actuator features:

• Components: Includes a 3:1 belt reduction and 3:1 planetary gearbox distributed across two stages of reduction.
• Slack Enabling Mechanism: Facilitates precise force control of the cable without external balancing forces, enhancing versatility and usability.

The development process involved:

• Design: Detailed design of components and calculations for optimal performance.
• Fabrication: Manufacturing with high precision to ensure efficiency and reliability.
• Testing: Rigorous testing to validate force generation and precise force control capabilities.

Results:

The actuator achieves impressive results:

• Hip Torque: Up to 16 Nm at a current of 10 A, supporting a range of motion for the hip joint.
• Ankle Support: Enhanced mobility aid capabilities without hindering natural joint movements.

These outcomes highlight the actuator's effectiveness in supporting joint movements and enhancing mobility aid devices for hip and ankle functions.