Esnek giyilebilir dış iskelet için burulma yaylı dönel okuyucu yataklamalı seri elastik eyleyici tasarımı ve geliştirilmesi

his thesis proposes a series elastic actuator design to power an assistive exoskele ton for the paraplegic or stroke patient whom incapable to walk or provide any motion at lower extremity portion of the body. Commonly, active exoskeleton robots are powered with the rigid actuators which do not provide torque control lability any physiological compliance and physical elasticity with the patient. Physical elasticity in the actuator can be used to compensate the environmen tal external forces during motion of the exoskeleton. Therefore, controlling the torque generated at the joints of the exoskeleton would provide safer human-robot interaction. Series elastic actuators are able to provide advanced control and high fidelity control with the elastic element located between the motor and the me chanical output of the series elastic actuator. The main goal of this thesis is to develop a series elastic actuator for a powered exoskeleton to provide torque mea surement and control during locomotion and optimizing the elastic element of the actuator for high fidelity control. To provide torque controllability a custom torsional spring has been produced and placed at the output side of the series elastic actuator. Especially developed SEA modules are designed to be modular, lightweight and have a high torque-to mass ratio. In addition, measurement of the angular displacement of the elastic element is challenging in terms of mechanical design. To circumvent this design problem, a double shaft mechanism was proposed. In this mechanism, the first shaft, which connects the spring and the spring encoder, goes through the second shaft, which is connected to the motor and the motor encoder. This way both encoders are placed on the same side of the SEA. In addition to design, results of the cascaded proportional integral derivative (PID) controller with a disturbance observer (DoB) applied on the actuator is presented.