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APPLICATION OF ELASTIC ACTUATORS WITH TORSION SPRING OF VARIABLE STIFFNESS IN ROBOTIC REHABILITATION DEVICES

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The issue of optimal spring elasticity in the actuator is investigated in order to develop efficient and compact flexible joints using physical springs for possible use in wearable robotic rehabilitation devices. An overview of domestic and foreign developments is presented, various approaches to the classification of actuators by the spring location are described. The advantages and disadvantages of alternative solutions are considered; a concept of flat torsion is developed, which allows for assembling several springs on one shaft.

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