Design of a Compact Energy Storage with Rotary Series Elastic Actuator for Lumbar Support Exoskeleton
, Raja Ariffin Raja Ghazilla 1,*, Mohammad Osman Tokhi 3, Hwa Jen Yap 1 and Emad Abdullah Albaadani 4
Round 1
Reviewer 1 Report
The author has done an exciting job.
If possible, the following items can be further explained:
1. How does es-rsea adapt to users with different weights
2. material and processing method of spiral spring
Author Response
Dear Reviewer,
We greatly appreciate the thorough and thoughtful comments provided on our submitted article.
We made sure that each one of the comments and inquiries have been addressed carefully.
"Please see the attachment". Attached below are detailed responses to all the reviewer’s comments.
Please let us know if you still have any questions or concerns about the manuscript.
Sincerely,
Author Response File: 
Author Response.pdf
Reviewer 2 Report
The authors report on the design of a series elastic actuator for an exoskeleton system. The topic would likely be of interest to the readers of wearable robotics domain. However, the manuscript has several deficiencies.
1- what are the novelty and advantages of the work with respect to other similar actuator systems? Replacing some components with new and updated versions and running some tests can not be recognized as a novelty in a research work.
2- how the elasticity of the human body has been considered in the formulations reported in Section 3.2.1 ?
3- The parameters such as spring stiffness have been assumed linear? why? It should be an explicit expatiation for this consideration.
4- It would be better to cite the following articles:
- Önen, Ümit, et al. "Design and actuator selection of a lower extremity exoskeleton." IEEE/ASME Transactions on mechatronics 19.2 (2013): 623-632.
- Barjuei, Erfan Shojaei, et al. "Bond graph modeling of an exoskeleton actuator." 2018 10th Computer Science and Electronic Engineering (CEEC). IEEE, 2018.
- Glowinski, Sebastian, et al. "A kinematic model of a humanoid lower limb exoskeleton with hydraulic actuators." Sensors 20.21 (2020): 6116.
5- The challenges of the work should be reported in the conclusion section.
Author Response
Dear Reviewer,
We would like to thank the referee again for taking the time to review our manuscript.
We made sure that each one of the reviewer comments has been addressed carefully and the paper is revised accordingly.
"Please see the attachment." Attached below are detailed responses to all the reviewer’s comments.
Please let us know if you still have any questions or concerns about the manuscript.
Sincerely,
Author Response File: Author Response.pdf
Round 2
Reviewer 2 Report
The manuscript has been improved a lot and it can be accepted for the publication.
