A Novel Compact Torsional Spring for Series Elastic Actuators for Assistive Wearable Robots

The introduction of intrinsic compliance in the actuation system of assistive robots improves safety and dynamical adaptability. Furthermore, in the case of wearable robots for gait assistance, the exploitation of conservative compliant elements as energy buffers can mimic the intrinsic dynamical properties of legs during locomotion. However, commercially available compliant components do not generally allow to meet the desired requirements in terms of admissible peak load, as typically required by gait assistance, while guaranteeing low stiffness and a compact and lightweight design. This paper presents a novel compact monolithic torsional spring to be used as the basic component of a modular compliant system for series elastic actuators. The spring, whose design was refined through an iterative FEA-based optimization process, has an external diameter of 85 mm, a thickness of 3 mm and a weight of 61.5 g. The spring, characterized using a custom dynamometric test bed, shows a linear torque versus angle characteristic. The compliant element has a stiffness of 98 N·m/rad and it is capable of withstanding a maximum torque of 7.68 N·m. A good agreement between simulated and experimental data were observed, with a maximum resultant error of 6%. By arranging a number of identical springs in series or in parallel, it is possible to render different torque versus angle characteristics, in order to match the specific applications requirements.