Design and Control of a Series Elastic Actuator With Clutch for Hip Exoskeleton for Precise Assistive Magnitude and Timing Control and Improved Mechanical Safety

Transparency and guaranteed safety are important requirements in the design of wearable exoskeleton actuators for individuals who have lower limb deficits but still maintain a certain level of voluntary motor control. Specifically, precision in torque delivery timing and magnitude, robustness, disturbance rejection, and repeatability are desired in the actuator design and control. Motivated by these needs, this study aims to develop a series of...