259
Multifunctional Actuators for Assistive Knee Braces
0
0.5
1
1.5
2
0
0.1
Torque (Nm)
Current (A)
0.2
0.3
0.4
0
1
2
3
4
5
6
7
8
9
10
Time (second)
FIGURE 13.17
Pulse response in clutch function.
0.4
0.35
0.3
Desired torque
Actual torque
Torque (Nm)
0.25
0.2
0.15
0.1
0.05
0
1
2
3
4
5
6
7
8
9
10
Time (second)
FIGURE 13.18
Torque tracking in the brake function of the actuator.
Multifunctional Actuators for Assistive Knee Braces
0
0.5
1
1.5
2
0
0.1
Torque (Nm)
Current (A)
0.2
0.3
0.4
0
1
2
3
4
5
6
7
8
9
10
Time (second)
FIGURE 13.17
Pulse response in clutch function.
0.4
0.35
0.3
Desired torque
Actual torque
Torque (Nm)
0.25
0.2
0.15
0.1
0.05
0
1
2
3
4
5
6
7
8
9
10
Time (second)
FIGURE 13.18
Torque tracking in the brake function of the actuator.