Direct-Drive Linear Actuators for a Lower Extremity Exoskeleton

Abstract

We present the design of a set of linear permanent magnet synchronous motors intended for use as direct-drive actuators in a lower extremity exoskeleton. The motors require water cooling to provide the joint torques necessary for walking, and the design of an optimized, compact cooling system is included. Work is underway to fabricate and test the motors for the hip joint of the exoskeleton.