Open Access. Powered by Scholars. Published by Universities.®
Biomedical Engineering and Bioengineering Commons™
Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Biomedical Engineering and Bioengineering
Cycloidal-Drive Joint Design For Wearable Exoskeletons, Abhi J. Rawal
Cycloidal-Drive Joint Design For Wearable Exoskeletons, Abhi J. Rawal
Theses
This thesis's scope was to construct a highly back drivable and compact joint design that can be used for wearable exoskeletons specifically designed to assist with rehabilitation. A compact cycloidal gear transmission was designed to satisfy the compactness requirement while ensuring the minimum torque is required for backdriving the mechanism. The joint was designed based on the compact cycloidal drive specifications, and the backdrivability test was performed to measure the minimum torque required (1.20 Nm) to backdrive. The joint design incorporates various important features such as rotation lock feature to prevent hyperextension, a housing design that offers the benefit of …