Results 261 to 270 of about 57,353 (294)
Some of the next articles are maybe not open access.
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.
D. Paluska, H. Herr
openaire +1 more source
Survey of elastic actuator applications
SPIE Proceedings, 2002A new class of actuators has been developed over the last few years. The actuators use an elastic medium, often a structural grade of alloy metal, as the transducer and are therefore known as elastic actuators. They may be driven by a wide variety of devices ranging from manual micrometer heads to current waveform generators.
openaire +1 more source
Elastic energy-recycling actuators for efficient robots
Science RoboticsElectric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while ...
Erez Krimsky, Steven H. Collins
openaire +2 more sources
COUPLED ELASTIC ACTUATION FOR BIPED WALKING
Mobile Service Robotics, 2014Passive Dynamic Walking, which shows natural and efficient gait on shallow slope, makes people believe that biped walking can be considered as the alternate free-rotation of double pendulums. To preserve this property of freerotation and adjust the walking gait for proper step length and period, we consider a novel method to realize biped walking on ...
BOTAO WU, MINGGUO ZHAO, KA DENG
openaire +1 more source
Configurable Compliance for Series Elastic Actuators
Volume 6B: 37th Mechanisms and Robotics Conference, 2013Variable compliance has been a growing topic of interest in legged robotics due to recent studies showing that animals adjust their leg and joint stiffness to adjust their natural dynamics and to accommodate changes in their environment. However, existing designs add significant weight, size, and complexity. Series Elastic Actuators, on the other hand,
Viktor Orekhov +3 more
openaire +1 more source
A Compact, Modular Series Elastic Actuator
Journal of Mechanisms and Robotics, 2016This paper presents the development of a compact, modular rotary series elastic actuator (SEA) design that can be customized to meet the requirements of a wide range of applications. The concept incorporates flat brushless motors and planetary gearheads instead of expensive harmonic drives and a flat torsional spring design to create a lightweight, low-
Jonathan P. Cummings +5 more
openaire +1 more source
Series elastic actuator control of a powered exoskeleton
2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011A motorized upper extremity orthosis based on the passive WREX system is being developed. The orthosis is a 4 dof arm controlled by user residual force inputs. The arm is intended for people with neuromuscular weakness due to muscular dystrophy or spinal muscular atrophy.
Daniel, Ragonesi +3 more
openaire +2 more sources
Dynamics and Coupling Actuation of Elastic Underactuated Manipulators
Journal of Robotic Systems, 2003AbstractThis paper investigates the constraint and coupling characteristics of underactuated manipulators by proposing an elastic model of the manipulator and examining the second order constraint equation. A dynamic model and a coupling constraint equation are developed from a Jacobian matrix and the Newton‐Euler formulation.
Zhao, T S, Dai, J S
openaire +3 more sources
A new compliant actuation: Electromagnetic spring uses in parallel elastic actuator
2016 16th International Conference on Control, Automation and Systems (ICCAS), 2016Traditional elastic actuator is the flexible structure which needed to connected to the output shaft of the brake. Besides, according to the principle of the state of the connection, it could be divided into series elastic actuators (SEA), as well as parallel elastic actuator (PEA) [3].
Jih-Yang Chang +4 more
openaire +1 more source