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Mechatronic Development of Highly Integrated Electromagnetic Actuator (HIERA) for Scalable Adolescent Exoskeletons
Mohamad Kardofaki (Informatique, BioInformatique, Systèmes Complexes), Moustafa Ahmed Fouz (Arab Academy for Science, Technology, and Maritime Transport), Nahla Tabti (Université Toulouse III - Paul Sabatier, Université de Toulouse), Hang Su (Informatique, BioInformatique, Systèmes Complexes), Eric Dychus, Samer Alfayad (Informatique, BioInformatique, Systèmes Complexes)
Abstract: Exoskeletons are widely used in robotic rehabilitation to improve the quality of life for disabled patients. However, existing exoskeletons lack scalability for teenagers due to their rapid growth. This study presents the Highly Integrated Electromagnetic Actuator (HIERA), a novel compact electric joint actuator designed to address this need. HIERA’s mechatronics development focuses on key design requirements, including size, angular speed, torque, and safety. We explore DC motor selection, transmission design, bearing and material choices, and sensor integration. Experiments such as load testing and adaptability assessment validate HIERA’s performance. Results show that HIERA accommodates adolescents’ anatomical changes, offering robust scalability and performance, thus providing a new solution for exoskeletons designed for growing teenagers.