发表机构
Istituto Italiano di Tecnologia（意大利技术研究院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种带共用气弹簧补偿的双凸轮并联弹性驱动器，构建耦合2自由度数学模型与优化设计框架，经仿真验证其可作为紧凑定制的人形踝关节扭矩补偿方案。
AI 中文摘要
为提升人形踝关节的扭矩容量与能量效率，本文提出一种2自由度并联弹性驱动器（PEA）。该设计的主要创新点在于其双凸轮、单气弹簧架构，可利用共用弹性元件在俯仰和侧倾方向实现扭矩补偿，相比传统多元件补偿方案提升了结构紧凑性。通过结合并联气弹簧与定制凸轮模块，该架构可针对特定任务需求提供双轴扭矩辅助。第二项关键贡献是构建了耦合2自由度数学模型，该模型明确捕捉两个补偿单元通过共用弹簧产生的相互依赖关系。基于此模型，开发了一种基于优化的设计框架，可根据预设扭矩参考合成定制凸轮轮廓，建立了从任务要求到硬件实现的系统关联。文中详细呈现了完整的小腿CAD集成方案，静态有限元分析（FEA）与运动学模拟均证实了该设计的可行性及扭矩缓解效果。结果表明，所提设计是一种紧凑、可定制的2自由度人形踝关节扭矩补偿解决方案。
英文摘要
To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elastic actuator (PEA). The main novelty of the proposed design lies in its dual-cam, single-gas-spring architecture, which enables torque compensation in both pitch and roll using a shared elastic element, thereby improving structural compactness compared with conventional multi-element compensation schemes. By leveraging parallel gas springs and customized cam modules, the proposed architecture provides dual-axis torque assistance tailored to specific task requirements. The second key contribution is the formulation of a coupled 2-DoF mathematical model that explicitly captures the interdependence between the two compensation units through the shared spring. Based on this model, an optimization-based design framework is developed to synthesize customized cam profiles from prescribed torque references, establishing a systematic link from task requirements to hardware realization. The complete lower-leg CAD integration is presented in detail. Static FEA and kinematic simulations confirm the design's feasibility and torque-relief effectiveness. The results highlight the proposed design as a compact, customizable solution for 2-DoF humanoid ankle torque compensation.
CommentsAccepted to IEEE AIM 2026. Copyright 2026 IEEE. Personal use of this material is permitted
DOI：10.1109/AIM65483.2026.11658177
