Compact Series Elastic Actuator for a Wrist Exoskeleton for Daily Living Assistance

This study presents the preliminary design of a compact compliant actuator for assisting wrist motions or similar joints within exoskeleton applications. Leveraging additive manufacturing techniques, a lightweight design approach is pursued, with most components fabricated from nylon. The actuator features a 2-stage cycloidal transmission and tendon-like transmission, optimized for space efficiency. Dynamic modeling drives the design process, culminating in a proposed final actuator design. Fabrication of a prototype is planned for assessment against modeled dynamics, with integration into an exoskeleton contingent upon promising results. Future design iterations will focus on the elastic element, exploring custom torsion spring design or commercial spring options to achieve the desired stiffness.