A wearable robot is a controlled and actuated device that is in direct contact with its user. As such, the implied requirements of this device are that it must be portable, lightweight, and most importantly safe. To achieve these goals, an actuator with a good "power to weight" ratio, good mechanical efficiency, good "strength to weight" ratio, and that is safe is desired. The design of the standard lead screw does not normally perform well in any of these categories. The typical lead screw has low pitch angles and large radii, thereby yielding low mechanical efficiencies and heavy weight. However, using the design procedure outlined in this text, both efficiency and weight are improved; thus yielding a lead screw system with performances that rival human muscle. The result of an example problem reveals a feasible lead screw design that has a power to weight ratio of 277 W/kg, approaching that of the dc motor driving it, at 312 W/kg, as well as a mechanical efficiency of 0.74, and a maximum strength to weight ratio of 11.3 kN/kg (1154 kgf/kg).
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机译：可穿戴机器人是与其用户直接接触的受控且致动的设备。因此，该设备的隐含要求是它必须是便携式的，轻便的，并且最重要的是安全性。为了实现这些目标，期望一种具有良好的“动力重量比”，良好的机械效率，良好的“强度重量比”且安全的致动器。在任何这些类别中，标准导螺杆的设计通常效果都不理想。典型的丝杠具有低的螺距角和大的半径，从而产生低的机械效率和较重的重量。但是，使用本文概述的设计程序，可以提高效率和重量。这样就产生了具有与人类肌肉相媲美的性能的丝杠系统。一个示例问题的结果表明，一种可行的丝杠设计具有277 W / kg的功率重量比，接近于312 W / kg的直流电动机驱动功率，以及0.74的机械效率，以及最大强度重量比为11.3 kN / kg（1154 kgf / kg）。
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