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Bridging the Gap to Bionic Motion: Challenges in Legged Robot Limb Unit Design, Modeling, and Control. [PDF]
Cyborg Bionic SystZhang J +7 more
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Elastic Fiber Programming for Simplified Pneumatic Control in Soft Robots. [PDF]
Adv Sci (Weinh)Yang X +7 more
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IEEE/ASME Transactions on Mechatronics, 2017
This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots, and robotic arms have shown the ability to reduce the energy consumption and motor requirements, such as peak torque and peak power. Because of those abilities,
Plooij, M.C. (author) +2 more
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This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots, and robotic arms have shown the ability to reduce the energy consumption and motor requirements, such as peak torque and peak power. Because of those abilities,
Plooij, M.C. (author) +2 more
openaire +3 more sources
Electromagnetically driven elastic actuator
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014Elastic and active elements will play a leading role in the development of dexterous and compliant robots. We present the fabrication of an elastic functional structure with ferromagnetic properties capable of producing compressive stress and strain in the presence of magnetic fields.
Federico Fries +4 more
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Motion control of series-elastic actuators
2016 American Control Conference (ACC), 2016Direct, physical interaction between a human and a robot has potential to provide assistance or rehabilitation which can extend the human user's physical capabilities. To be successful, the robot must be able to realize the system-level objectives without compromising the subject's safety.
Kevin Haninger +2 more
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A switchable clutched parallel elasticity actuator
2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017We report on the development of a novel switchable clutched parallel elastic actuator (SCPEA), which is composed of active components, such as a brake and clutch, as well as passive components, such as a ratchet and one-way bearing. The proposed SCPEA can actively control the storing, preserving, and releasing of the spring potential energy to and from
Wei-Jhe Wu, Pei-Chun Lin
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Force Control of Series Elastic Actuator: Implications for Series Elastic Actuator Design
2015 Fifth International Conference on Instrumentation and Measurement, Computer, Communication and Control (IMCCC), 2015The force controller of series elastic actuator (SEA) is an important issue, because it determines the output performance of SEA (the bandwidth and the resonant peak). However, the existing force controllers of SEA attach little importance to the determinants of the performance.
Li Yang, Feng Huashan
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Series elasticity and actuator power output
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006In this investigation we put forth a simple model to quantify the capacity of series elasticity to increase peak power output from an actuator. Using a linear bandwidth limited force source, we show how series spring stiffness and source stroke length effect power output to an inertial load.
Daniel Paluska, Hugh M. Herr
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