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projects:projects [2019/09/27 13:42]
Martin Grimmer [Improving walking assistance techniques for lower limb exoskeletons (2019 - 2023)]
projects:projects [2019/12/17 10:59] (current)
Maziar Sharbafi [Hybrid Electric-Pneumatic Actuator (EPA) for legged locomotion (2017 - 2020)]
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 Funded by DFG Funded by DFG
-{{ :projects:epa.jpg?200|Schematics of PAM arrangement}}+{{ :projects:epahopper.mp4?400|EPA-hopper hopping}}
 A better understanding of how actuator design supports locomotor function may 
help design and develop novel and more functional powered assistive or robotic legged
 systems. Legged locomotion can be described as a composition of locomotor
 sub-functions,​ namely axial leg function, leg swinging and balancing. In this 
project, we focus on the axial leg function (e.g., spring-like hopping) based on a novel concept of a hybrid electric-pneumatic actuator (EPA). This principal locomotor sub-function determines 
the movement of the body center of mass. We will design and manufacture EPA prototypes 
as enhanced variable impedance actuators (VIA). In contrast to other VIAs, the EPA provides not only adaptable compliance (e.g. an adjustable spring) 
but with the pneumatic artificial muscle (PAM) also 
an additional powerful actuator with muscle-like properties, which can be
arranged in different configurations (e.g., in series or parallel) to the electric motor (EM). This novel hybrid actuator
 shares the advantages of EM and PAM combining precise control with compliant
 energy storage required for efficient, robust and versatile human-like leg motions via simple control 
laws. ​ A better understanding of how actuator design supports locomotor function may 
help design and develop novel and more functional powered assistive or robotic legged
 systems. Legged locomotion can be described as a composition of locomotor
 sub-functions,​ namely axial leg function, leg swinging and balancing. In this 
project, we focus on the axial leg function (e.g., spring-like hopping) based on a novel concept of a hybrid electric-pneumatic actuator (EPA). This principal locomotor sub-function determines 
the movement of the body center of mass. We will design and manufacture EPA prototypes 
as enhanced variable impedance actuators (VIA). In contrast to other VIAs, the EPA provides not only adaptable compliance (e.g. an adjustable spring) 
but with the pneumatic artificial muscle (PAM) also 
an additional powerful actuator with muscle-like properties, which can be
arranged in different configurations (e.g., in series or parallel) to the electric motor (EM). This novel hybrid actuator
 shares the advantages of EM and PAM combining precise control with compliant
 energy storage required for efficient, robust and versatile human-like leg motions via simple control 
laws. ​