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Fig. 6 | Journal of NeuroEngineering and Rehabilitation

Fig. 6

From: Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements

Fig. 6

The MACCEPA actuator. The motor is connected to the lever arm with a toothed belt transmission. A flat cable connects the lever arm with the compression spring located in the moving output link. When the lever arm and output link are aligned, the torque generated by the MACCEPA is zero. The pretension screws allow to give the spring a pretension to change the stiffness relationship of the actuator

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