This exoskeleton drive is designed for use in robotic limbs. The complete joint actuation unit consists of a pancake brushless dc motor with inertia-optimized rotor. It also includes an internal high-resolution encoder, planetary gearhead with absolute encoder and a position controller with CAN and RS-232 interface. Fitting the absolute encoder directly at the joint rotation provides increases positioning accuracy. The unit delivers 54 Nm of continuous torque and 120 Nm on a 20% duty cycle. It may be operated on supplies between 10 and 50 Vdc, and the actuation speed is up to 22 rpm. Other key features include compact housing, integrated controller and reduced weight and cost.
