Design and development of a variable stiffness actuator for rehabilitation applications

In this study, the design and development of a variable stiffness actuator for rehabilitation applications is presented. The variable stiffness actuators are the types of actuators used in many areas. One of the most valuable advantages of these actuator types, which have been widely used recently, is that they help the mechanisms in which these actuator types are used to operate with different stiffness characteristics instead of constant stiffness. With the help of this varying stiffness, it is possible to interact with users safely and minimize large shock forces. Based on these advantages of variable stiffness actuators, it is also used in rehabilitation treatments. Although there are many different types of rehabilitation, the most widely used department is physical rehabilitation. Physical rehabilitation is a method for treatment of people who do not have a congenital limb, have lost their limb accidentally, or cannot perform limb function fully or partially. Within the scope of this study, a mechanically-controlled actuator, which is one of the variable stiffness actuator types, was designed and developed on the prototype of the exoskeleton robot. The body structure of the prototype was produced using the additive manufacturing and machining method. The prototype of the actuator was controlled and driven with a microcontroller and motor drivers. Finally, the analysis and test results of the designed and developed actuator are presented.