Abstract In the field of wearable robots, actuator efficiency and user safety are frequently addressed by intentionally adding compliance to the actuation unit. However, the implications compliance has on the actuator’s overall performance in different conditions and activities are not fully understood, largely due to single task-focused experimental evaluations of these devices. To overcome this, our paper analyzes the effects that changing mechanical compliance has on the actuator’s overall performance in different ideal conditions in an experimental test setup. The torque performance and electrical energy consumption of an orthotic, adjustable-compliance knee joint actuator are evaluated during emulated walking and sit-to-stand-to-sit movements. Furthermore, the feasibility of combined operation of a dual mechanical compliance configuration during walking is investigated, and its outcomes reported in this work. The results demonstrate that varying mechanical compliance can lead up to 50% energy savings compared to a no-compliance configuration and show that, in general, changing compliance level leads to either energy-optimal or power-optimal actuator performance, but not both.

中文翻译：

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改变机械顺应性有利于膝关节致动器的能源效率

摘要 在可穿戴机器人领域，致动器效率和用户安全经常通过有意增加致动单元的顺应性来解决。然而，合规性对执行器在不同条件和活动中的整体性能的影响尚不完全清楚，这主要是由于对这些设备的单一任务集中实验评估。为了克服这个问题，我们的论文在实验测试设置中分析了在不同理想条件下改变机械柔量对执行器整体性能的影响。在模拟步行和从坐到站到坐的运动期间评估矫形、可调节顺应性膝关节致动器的扭矩性能和电能消耗。此外，研究了步行过程中双机械顺应性配置组合操作的可行性，并在这项工作中报告了其结果。结果表明，与非顺应性配置相比，不同的机械顺应性可以节省高达 50% 的能源，并表明，通常，顺应性水平的变化会导致能量最佳或功率最佳的执行器性能，但不能同时实现两者。