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Design and Control of a Series–Parallel Elastic Actuator for a Weight-Bearing Exoskeleton Robot [PDF]
Sensors, 2022 Weight-bearing exoskeletons are robots that need to carry loads and interact with humans frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of outputting sufficient force with high compliance and little weight. A series–
Tianshuo Wang +5 more
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Pneumatic Variable Series Elastic Actuator. [PDF]
J Dyn Syst Meas Control, 2016 Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution
Zheng H, Wu M, Shen X.
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Impedance matching in an elastic actuator [PDF]
Soft Matter, 2021 We consider energy transfer from an elastic actuator to an elastic load, and show that the energy transfer can be optimized by tuning Young's modulus of the impedance matching host material.
Tianyi Guo +2 more
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Continuously-variable series-elastic actuator [PDF]
2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013 Actuator efficiency is an important factor in the design of powered leg prostheses, orthoses, exoskeletons, and legged robots. A continuously-variable series-elastic actuator (CV-SEA) is presented as an efficient actuator for legged locomotion. The CV-SEA implements a continuously-variable transmission (CVT) between a motor and series elastic element ...
Mooney, Luke M., Herr, Hugh M
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Actuators, 2023 The integration of a passive elastic element in series between a motor and its load is popular in many human–robot interaction scenarios. By virtually imposing elastic behavior on the motor, an impedance control can act as a second stiffness to such an ...
Rodrigo J. Velasco-Guillen +3 more
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Series elastic actuators [PDF]
Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, 2002 It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy ...
G.A. Pratt, M.M. Williamson
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Elastic actuation for legged locomotion [PDF]
SPIE Proceedings, 2017 The inherent elasticity of dielectric elastomer actuators (DEAs) gives this technology great potential in energy efficient locomotion applications. In this work, a modular double cone DEA is developed with reduced manufacturing and maintenance time costs.
Cao, Chongjing, Conn, Andrew
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On-Chip Micro Mixer Driven by Elastic Wall with Virtual Actuator
Micromachines, 2021 In this paper, we propose an on-chip micromixer driven by an elastic wall with a virtual actuator. The on-chip micro mixer is composed of a circular chamber surrounded by a ring-shaped channel under isolation with an elastic wall.
Toshio Takayama +2 more
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A Pneumatic Particle-Blocking Variable-Stiffness Actuator
Sensors, 2023 In order to improve the stiffness of flexible robots, this paper proposes a variable-stiffness elastic actuator. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage.
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu
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Piezoelectric Actuators for Tactile and Elasticity Sensing [PDF]
Actuators, 2020 Piezoelectric actuators have achieved remarkable progress in many fields, being able to generate forces or displacements to perform scanning, tuning, manipulating, tactile sensing or delivering functions. In this work, two piezoelectric PZT (lead zirconate titanate) bimorph actuators, with different tip contact materials, were applied as tactile ...
Javier Toledo +3 more
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