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Rigid vs. elastic actuation: Requirements & performance
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012Intrinsically elastic joints have become increasingly popular over the last years. Commonly, they are considered to outperform rigid actuation in terms of peak dynamics, robustness, and energy efficiency. In particular, the possible increase of link speed by adequate motor excitation trajectories, such that the elastic transmission temporarily stores ...
Haddadin, Sami +2 more
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Improvements to Series Elastic Actuators
2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, 2006Actuators must be safe when interacting with humans, even in unexpected situations. Safety requires low impedance (low forces for a given perturbation) at all frequencies, not only in the actuator's stable bandwidth. Series Elastic Actuators (SEAs) are capable of achieving low impedance across all frequencies, though their force-frequency saturation ...
Jonathon Sensinger, Richard Ff. Weir
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Force controllable hydro-elastic actuator
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002We present a hydro-elastic actuator that has a linear spring intentionally placed in series between the hydraulic piston and actuator output. The spring strain is measured for an accurate estimate of force. This measurement alone is used in PI feedback to control the force in the actuator.
D.W. Robinson, G.A. Pratt
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Silicone dielectric elastomer actuators: Finite-elasticity model of actuation
Sensors and Actuators A: Physical, 2005Abstract A theory for the actuation strain of a silicone dielectric elastomer actuator with a simple geometry is developed. The stress is a function of two variables, the strain and the applied voltage. A lamination type stress–strain function was employed, due to the nature of the electrodes.
Guggi Kofod, Peter Sommer-Larsen
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PZT thin film actuated elastic fin micromotor
IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, 1998A piezoelectric elastic fin micromotor based on a PbZr(0.53 )Ti(0.47)O(3) thin film driving a micromachined silicon membrane was fabricated and studied. The stator was characterized by interferometry, and a laser set-up was used to measure the angular velocity and acceleration of the motor. The torque, the output power, and the efficiency of the device
M A, Dubois, P, Muralt
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Dynamic Morphing of Actuated Elastic Membranes
2019Parametric resonances of elastic membranes actuated by harmonic in-plane strains prescribed along given directions are exploited to drive dynamic morphing of lightweight, flexible panels employed in engineering applications which require active, shape-changing surfaces.
Arena A., Massimi F., Lacarbonara W.
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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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Hopping movement simulation of elastic actuator
2015 IEEE International Conference on Mechatronics and Automation (ICMA), 2015In this paper, we presented a multimodal elastic actuator which combining the motor, spring, brake and clutch that produces several modes of operation. The operation modes including stiff position control, series elastic actuation as well as the possibility to store and release energy were analyzed.
Han Yali +5 more
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Novel elastic magnets as actuators core
International Journal of Applied Electromagnetics and Mechanics, 2004An elastic magnet in bar shape, consisting of permanently magnetized Sm _2 Co _7 micro-particles, was produced. The longitudinal strain and/or force amounts given by this novel material under the action of a longitudinal magnetic field are here investigated in order to evaluate the potential applications in very ductile actuator systems.
IANNOTTI, VINCENZO +7 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
null Wei-Jhe Wu, null Pei-Chun Lin
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