A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL)

Adjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due to impacts, to safely interact with the user, and to store and release energy in passive elastic elements. Conceived as a new force-controlled compliant actuator, an adjustable rigidity with embedded sensor and locking mechanism actuator (ARES-XL) is presented in this paper. This compliant system is intended to be implemented in a gait exoskeleton for children with neuro muscular diseases (NMDs) to exploit the intrinsic dynamics during locomotion. This paper describes the mechanics and initial evaluation of the ARES-XL, a novel variable impedance actuator (VIA) that allows the implementation of an add-on locking mechanism to this system, and in combination with its zero stiffness capability and large deflection range, provides this novel joint with improved properties when compared to previous prototypes developed by the authors and other state-of-the-art (SoA) devices. The evaluation of the system proves how this design exceeds the main capabilities of a previous prototype as well as providing versatile actuation that could lead to its implementation in multiple joints.: This work has been partially funded by the Spanish National Plan for Research, Development, and Innovation through grant DPI2013-40504-R and EU-FP7-ECHORD++ Experiment 401 EXOTrainer. Cestari would like to thank the Spanish Ministry of Economy and Competitiveness for funding his Ph.D. researc