MARIONET: An Exotendon-Driven Rotary Series Elastic Actuator for Exerting Joint Torque
By Sulzer, James S.; Peshkin, Michael A.; Patton, James L.; ICORR 2005 - 9th International Conference on Robotics for Rehabilitation,Publication Date: 2005
Report on a cable-driven, Rotary Series Elastic Actuator (SEA) as a means to deliver torque to a joint. Named MARIONET (Moment arm Adjustment for Remote Induction Of Net Effective Torque), its advantages include remote actuation and independent control of compliance and equilibrium. Although no elastic element is used in its design, the system moves against a conservative force field created by the tensioner; hence, the system behaves like a SEA. It can be used in a variety of human-robot interactions, e.g. in dealing with neuromuscular spasticity. MARIONET is one of a number of cable-driven human-robot interactive devices such as the UTAH-MIT hand, the String-Man, the WAM, the Phantom and the Spring Walker. The MARIONET differs from other devices in that it introduces cables for multiple-joint actuations, possibly eliminating the need for robotic links. The user’s own skeleton provides the necessary rigidity, making it a tool for rehabilitation robotics and other human-machine uses. The review points to resolving mechanical issues in future development of the device.
Published by: Institute of Electrical & Electronics Engineers (IEEE) (Website:http://www.ieeecss.org)
This publication is included in the library of the National Rehabilitation Information Center (NARIC), accession number O16909
