257
Multifunctional Actuators for Assistive Knee Braces
0
60
30
90
Power (W)
120
150
0
20
40
Efficiency (%)
60
80
Power efficiency
Output power
100
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Torque (Nm)
0
0.2
0.25
0.1
0.15
0.05
0.3
0.35
Torque (Nm)
0.4
0.45
0.5
Measured torque
Fitting curve
0
0.5
1
1.5
2
2.5
Current (A)
FIGURE 13.15
Output power and power efficiency in motor function.
FIGURE 13.16
Measured torque vs. applied current in the brake function.
Multifunctional Actuators for Assistive Knee Braces
0
60
30
90
Power (W)
120
150
0
20
40
Efficiency (%)
60
80
Power efficiency
Output power
100
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Torque (Nm)
0
0.2
0.25
0.1
0.15
0.05
0.3
0.35
Torque (Nm)
0.4
0.45
0.5
Measured torque
Fitting curve
0
0.5
1
1.5
2
2.5
Current (A)
FIGURE 13.15
Output power and power efficiency in motor function.
FIGURE 13.16
Measured torque vs. applied current in the brake function.