Development of energy-recycling actuation systems

Steve Collins, Mechanical Engineering

The CMU Efficient Biomechatronics Laboratory is developing novel actuators for use in assistive and rehabilitative systems worn by humans. Wearable robotic systems must be: lightweight, for ease of carry; energy efficient, for a combination of performance and range; and torque-controllable, to enable a variety of assistive and rehabilitative techniques. Current actuator technologies each underperform in at least one of these categories. The goal of this project is to use ideas from Nonholonomic mathematics and techniques from machine design to develop a novel class of actuator that can capture and return mechanical energy at a controllable torque.

This project will entail:

 - Developing the energy-recycling actuator concept design

 - Modeling of actuator performance in simulation

 - Creating a detailed design of an alpha prototype

 - Overseeing prototype manufacturing

 - Assembling and refining the prototype

 - Performing benchtop experiments to test the actuator's performance

Skills needed:

 - Hands-on experience and a strong mechanical intuition

 - Ability to perform simplified mechanical analyses

 - SolidWorks modeling proficiency and experience

 - Matlab proficiency

 - Creativity and a "can-do" attitude

Students must be eligible for the honors research program, which includes 18-24 credits over two semesters. Completion of Engineering Design I (24-370) a plus. Please send your resume to Steve Collins, stevecollins@cmu.edu.