An elbow exoskeleton for haptic feedback made with a direct drive hobby motor

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dc.contributor.authorKim, Huberten
dc.contributor.authorAsbeck, Alan T.en
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2021-03-02T19:02:01Zen
dc.date.available2021-03-02T19:02:01Zen
dc.date.issued2020en
dc.description.abstractA direct drive motor is one of the simplest mechanisms that can be used to move a mechanical joint. In particular, a brushless direct current (BLDC) motor with no gearing produces a low parasitic torque due to its backdrivability and low inertia, which is ideal for some applications such as wearable systems. While capable of operating with a higher power density than brushed motors, BLDC motors require accurate position feedback to be controlled via vector control at slow speeds. The MotorWare™ library from Texas Instruments (TI), which is designed to run with a C2000 microcontroller, is written to run BLDCs. However, the code was written to run the motor continuously with an incremental encoder and requires further engineering to be used at low speeds such as in an exoskeleton. In this paper, we present the design of an elbow exoskeleton that can be used for haptic feedback. We provide instructions to build the exoskeleton hardware, custom code to modify software provided by TI so that a motor can provide a controlled torque at low speeds, code to enable the microcontroller to communicate with a computer for high-level commands and data storage, and also provide an overview of how alternate motors could be used with this software setup.en
dc.description.sponsorshipThis work was supported by an Institute for Critical Technology and Applied Science (ICTAS) Fellowship for H. Kim and a Google Faculty Research Award. Open Access fees were provided by the Virginia Tech Open Access Subvention Fund.en
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.1016/j.ohx.2020.e00153en
dc.identifier.urihttp://hdl.handle.net/10919/102526en
dc.identifier.volume8en
dc.language.isoenen
dc.publisherElsevieren
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.subjectBrushless DC motor controlen
dc.subjectDirect drive actuatoren
dc.subjectHaptic feedbacken
dc.subjectJoint torque feedbacken
dc.subjectExoskeletonen
dc.titleAn elbow exoskeleton for haptic feedback made with a direct drive hobby motoren
dc.title.serialHardwareXen
dc.typeArticle - Refereeden

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