Antagonistic CCEA Design

Total Weight Max. Payload Max. Joint Speed Motor Robotics Laboratory, M.E., N.T.U.

About 500 g (1400g) 13.7 Nm (12.5Nm) 86 deg./sec. (64deg./sec.) Brush DC x 2 ( DC x 1)

1

Motor Specifications (FINAL) Specifications

Motor Specifications Weight of reduction devices (g) 21 38 277g Output rated speed (rpm) 6000rpm 8000rpm Rated motor output torque (mN-m) 44 10 Arm Performances (Efficiency=80%) Rated output torque (N-m) 13.73 0.112 Output rated speed (deg/s) 86 571.4 Joint Type Weight Reduction ratio

Output Adjuster WEIGHT

2657 2232

156 62

30(WG)*13(26A) ?(PS)*14(20/1)

Total weight of one arm: 3.50 kg Max. rate of varying stiffness: 0.63 sec. 0->

Robotics Laboratory, M.E., N.T.U.

CCEA Assembling

Robotics Laboratory, M.E., N.T.U.

Upper limb exoskeleton design

Robotics Laboratory, M.E., N.T.U.