Results 1 to 10 of about 15 (15)

Exploring the Limits of a Redundant Actuation System Through Co-Design

IEEE Access, 2021
This paper assesses the energy efficiency of a redundant actuation architecture combining Quasi-Direct Drive (QDD) motors and Series Elastic Actuators (SEAs) by comparing its energy consumption to Geared Motors (GMs) and SEAs alone.
Gianluigi Grandesso, Gabriel Bravo-Palacios, Patrick M. Wensing, Marco Fontana, Andrea Del Prete   +4 more
doaj   +1 more source

Modeling and Control of a Cable-Driven Rotary Series Elastic Actuator for an Upper Limb Rehabilitation Robot

Frontiers in Neurorobotics, 2020
This paper focuses on the design, modeling, and control of a novel remote actuation, including a compact rotary series elastic actuator (SEA) and Bowden cable.
Qiang Zhang, Qiang Zhang, Dingyang Sun, Wei Qian, Xiaohui Xiao, Xiaohui Xiao, Zhao Guo, Zhao Guo   +7 more
doaj   +1 more source

Concept of a Series-Parallel Elastic Actuator for a Powered Transtibial Prosthesis

Actuators, 2013
The majority of the commercial transtibial prostheses are purely passive devices. They store energy in an elastic element during the beginning of a step and release it at the end.
Bram Vanderborght, Dirk Lefeber, Pierre Cherelle, Glenn Mathijssen   +3 more
doaj   +1 more source

Optimal Magnetic Spring for Compliant Actuation—Validated Torque Density Benchmark

Actuators, 2019
Magnetic springs are a fatigue-free alternative to mechanical springs that could enable compliant actuation concepts in highly dynamic industrial applications.
Branimir Mrak, Bert Lenaerts, Walter Driesen, Wim Desmet   +3 more
doaj   +1 more source

Serpens: A Highly Compliant Low-Cost ROS-Based Snake Robot with Series Elastic Actuators, Stereoscopic Vision and a Screw-Less Assembly Mechanism

Applied Sciences, 2019
Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven obstacle-aided locomotion (POAL ...
Filippo Sanfilippo, Erlend Helgerud, Per Anders Stadheim, Sondre Lieblein Aronsen   +3 more
doaj   +1 more source

Artificial Knee Joints Actuators with Energy Recovery Capabilities: A Comparison of Performance

Journal of Robotics, 2016
The human knee absorbs more energy than it expends in level ground walking. For this reason it would be useful if the actuation system of a wearable robot for lower limbs was able to recover energy thus improving portability.
Roberta Alò, Francesco Bottiglione, Giacomo Mantriota   +2 more
doaj   +1 more source

Compliant Robotic Biceps Machine for Resistance Training and Upper Limb Rehabilitation

IEEE Access
End-effector-based resistance rehabilitation training is widely used to restore motor function in individuals with upper extremity motor dysfunction. Incorporating compliant actuation adds the advantage of working closely with patients while providing ...
Mohammad I. Awad, Nour Aiman Al-Rahmani, Zhenwei Nui, Bhivraj Suthar, M. Fatima Domingues, Irfan Hussain, Kinda Khalaf   +6 more
doaj   +1 more source

Implementazione e testing di feedback aptico per sistema di endoscopia robotica basato su Series Elastic Actuation (SEA)

The lab where I’m doing my thesis has previously developed a novel endoscopic system for safer neurosurgery. The main goal was to reduce interaction forces between the instrument and brain tissue thanks to springs in the transmission between the motors and the movable endoscope tip.
openaire   +1 more source

Physical Human-Robot Interaction Using HandsOn-SEA: An Educational Robotic Platform With Series Elastic Actuation

IEEE Transactions on Haptics, 2021
For gaining proficiency in physical human-robot interactions, it is crucial for engineering students to be provided with the opportunity to gain hands-on experience with robotic devices that feature kinesthetic feedback. In this article, we propose HandsOn-SEA, a low-cost, single degree-of-freedom, force-controlled educational robot with series elastic
Ata Otaran, Ozan Tokatli, Volkan Patoglu
openaire   +3 more sources

SEA-Leg: A Wheel-Leg Hybrid Locomotion Platform for Uncontrolled Environments Using Series Elastic Actuators

Volume 8: 47th Mechanisms and Robotics Conference (MR), 2023
Abstract In this paper, we present the SEA-Leg robotic mobility platform: a wheel-leg hybrid locomotion system which uses a 2 degree-of-freedom linkage driven by two series-elastic actuators to create a passive suspension system featuring the reconfigurability that makes legged systems advantageous. A method for simplifying the wheel-leg’
Nick Swerczek, Carl A. Nelson, John Cerny, Amber Tannehill   +3 more
openaire   +1 more source