Open-source design of low-cost sensorised elastic actuators for collaborative prosthetics and orthotics

Area of Science:

• Robotics
• Biomedical Engineering
• Mechanical Engineering

Background:

• Collaborative robots (cobots) require compliant actuators for safe human interaction.
• Existing compliant cobots for prosthetics and orthotics are often expensive and complex.
• There is a need for accessible, adaptable actuator solutions in this field.

Purpose of the Study:

• To introduce an innovative, cost-effective, sensorised elastic actuator design for prosthetic and orthotic applications.
• To provide an open-source hardware and software framework for educational and research purposes.
• To enhance the adaptability and safety of collaborative robotics in assistive devices.

Main Methods:

• Modular actuator design utilizing 3D printing for customisation and rapid fabrication.
• Integration of sensing capabilities for real-time feedback.
• Implementation and validation of impedance and admittance control techniques.
• Open-source release of all hardware and software components.

Main Results:

• Achieved a standard deviation of 9.67 Nm for torque in impedance control.
• Achieved a standard deviation of 0.2563 radians for angle in admittance control.
• Demonstrated efficient and affordable fabrication through 3D printing and modularity.
• Validated the design's support for advanced control strategies.

Conclusions:

• The developed low-cost, sensorised elastic actuator offers a viable and accessible solution for collaborative robotics in prosthetics and orthotics.
• The open-source nature of the design promotes wider adoption and further innovation in the field.
• This educational framework facilitates improved user safety, comfort, and adaptability in assistive robotic applications.