Results 31 to 40 of about 38,943 (291)

Multistable series elastic actuators: Design and control [PDF]

Robotics and Autonomous Systems, 2019
Abstract In this paper we propose a novel actuation concept, consisting of a conventional DC motor in series with a compliant element having multiple configurations of equilibrium. The proposed device works similarly to a traditional series elastic actuator, where the elasticity increases safety and force control accuracy, but presents the ...
Cappello, Leonardo, Xiloyannis, Michele, Dinh, Binh Khanh, Pirrera, Alberto, Mattioni, Filippo, Masia, Lorenzo   +5 more
openaire   +4 more sources

Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation [PDF]

, 2007
This paper introduces a newly developed gait rehabilitation device. The device, called LOPES, combines a freely translatable and 2-D-actuated pelvis segment with a leg exoskeleton containing three actuated rotational joints: two at the hip and one at the
Asseldonk, Edwin H.F. van, Ekkelenkamp, Ralf, Hekman, Edsko E.G., Kooij, Herman van der, Kruidhof, Rik, Veneman, Jan F.   +5 more
core   +2 more sources

Forced Servoing of a Series Elastic Actuator Based on Link-Side Acceleration Measurement

Actuators, 2023
Joint stiffness of an elastic-joint robot can be changed according to joint stiffness requirements. A series elastic actuator (SEA) can reduce the contact stiffness between the body and the environment or human, which can further ensure interactive ...
Zhuo Wang, Shenghong Liu, Bo Huang, Haowu Luo, Feiyan Min   +4 more
doaj   +1 more source

Characterization of Control-Dependent Variable Stiffness Behavior in Discrete Muscle-Like Actuators

Applied Sciences, 2018
This paper presents the modeling, characterization and validation for a discrete muscle-like actuator system composed of individual on–off motor units with complex dynamics inherent to the architecture.
Caleb Fuller, Joshua Schultz
doaj   +1 more source

Trajectory optimization for walking robots with series elastic actuators [PDF]

53rd IEEE Conference on Decision and Control, 2014
Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems.
Werner, Alexander, Lampariello, Roberto, Ott, Christian   +2 more
openaire   +2 more sources

Final results from the EU project AVATAR: aerodynamic modelling of 10 MW wind turbines [PDF]

, 2018
This paper presents final results from the EU project AVATAR in which aerodynamic models are improved and validated for wind turbines on a scale of 10 MW and more.
Barakos, G., Boorsma, K., Croce, A., Ferreira, C., Gonzalez, A., Heisselmann, H., Jost, E., Lampropoulos, N., Lutz, T., Madsen, J., Maeder, T., Rahimi, H., Schepers, J.G., Sieros, G, Stoevesandt, B., Sørensen, N., Voutsinas,   +16 more
core   +2 more sources

Prismatic Series of Elastic Actuator: Modelling and Control by ICA and PSO-tuned Fractional Order PID [PDF]

International Journal of Advanced Design and Manufacturing Technology, 2015
: This paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. The capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. Due to having human in the loop,
Somayeh Norouzi Ghazbi, Alireza Akbarzadeh   +1 more
doaj  

Experimental Investigation of the Vibro-impact Capsule System [PDF]

, 2017
Dr. Yang Liu would like to acknowledge the financial support for the Small Research Grant (31841) by the Carnegie Trust for the Universities of Scotland. This work is also partially supported by the National Natural Science Foundation of China (Grant Nos.
Jiang, Haibo, Liu, Yang, Pavlovskaia, Ekaterina, Wiercigroch, Marian   +3 more
core   +1 more source

Neural-Augmented Hybrid Dynamic Modeling of a Series-Parallel Elastic Actuator

IEEE Access
This paper proposes a neural network-based model of a novel hybrid Series-Parallel Elastic Actuator (SEA-PEA) architecture for high-performance robotic applications.
Timur Umurzakov, Sharafatdin Yessirkepov, Michele Folgheraiter   +2 more
doaj   +1 more source

Series-elastic actuation prototype for rough terrain hopping [PDF]

2012 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2012
In this paper, we describe development and modeling of a prototype hopping robot. The objective of our work is to create a test platform to verify control theory for fast, legged locomotion with limited sensor knowledge of upcoming, rough-terrain characteristics.
Katie Byl, Marten Byl, Martin Rutschmann, Brian Satzinger, Louis van Blarigan, Giulia Piovan, Jason Cortell   +6 more
openaire   +1 more source