Transmission Comparison for Cooperative Robotic Applications

The development of powered assistive devices that integrate exoskeletal motors and muscle activation for gait restoration benefits from actuators with low backdrive torque. Such an approach enables to assist as needed while maximizing the joint torque muscles, contributing movement, facilitating ballistic motions instead overcoming passive dynamics. Two electromechanical were developed determine effect two candidate transmission implementations joint. To differentiate effects, utilized same motor similar gearing. One actuator included a commercially available harmonic drive other incorporated custom designed two-stage planetary transmission. Passive resistance mechanical efficiency determined based on isometric resistance. planetary-based outperformed harmonic-based in all tests would be more suitable hybrid exoskeletons.