A lightweight variable stiffness knee exoskeleton driven by shape memory alloy
Jiaqi Zhang, Ming Cong, Dong Liu, Yu Du, Hongjiang Ma
Abstract
Purpose This paper aims to get rid of the traditional basic principle of using the motor as the variable stiffness drive source, simplify the structure of the exoskeleton and reduce the quality of the exoskeleton. This paper proposes to use shape memory alloys (SMA) as the variable stiffness drive source. Design/methodology/approach In this study, SMA is used to construct the active variable stiffness unit, the Brinson constitutive model is used to establish a dynamic model to control the active variable stiffness unit and the above active variable stiffness unit is used to realize the force control function and construct a lightweight, variable stiffness knee exoskeleton. Findings The dynamic model constructed in this paper can preliminarily describe the phase transformation process of the active variable stiffness unit and realize the variable stiffness function of the knee exoskeleton. The variable stiffness exoskeleton can effectively reduce the driving error under the high-speed walking condition. Originality/value The contribution of this paper is to combine SMAs to construct an active variable stiffness unit, build a dynamic model for controlling the active variable stiffness unit and construct a lightweight, variable stiffness knee exoskeleton.