Design of force support device for human ankle joint

摘要

This paper presents the result of the research about designing a device to support ankle joint by using Series Elastic Actuator (SEA). SEA is a system which consist of a DC motor, ball screw and the springs. The output force is controlled to track a trajectory which has been built before. Control force is done through control the transpose of the spring. A prototype was built to verify the possibility of this method.