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Momentum Control of Humanoid Robots with Series Elastic Actuators [PDF]
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking controllers ...
Nava, Gabriele +2 more
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Robust Force Control of Series Elastic Actuators [PDF]
Actuators, 2014 Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces.
CALANCA, Andrea +2 more
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Continuously-variable series-elastic actuator [PDF]
2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), 2013 Actuator efficiency is an important factor in the design of powered leg prostheses, orthoses, exoskeletons, and legged robots. A continuously-variable series-elastic actuator (CV-SEA) is presented as an efficient actuator for legged locomotion. The CV-SEA implements a continuously-variable transmission (CVT) between a motor and series elastic element ...
Mooney, Luke M., Herr, Hugh M
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Series elastic actuators [PDF]
Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, 2002 It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy ...
G.A. Pratt, M.M. Williamson
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Pneumatic Variable Series Elastic Actuator [PDF]
Journal of Dynamic Systems, Measurement, and Control, 2016 Inspired by human motor control theory, stiffness control is highly effective in manipulation and human-interactive tasks. The implementation of stiffness control in robotic systems, however, has largely been limited to closed-loop control, and suffers from multiple issues such as limited frequency range, potential instability, and lack of contribution
Hao, Zheng, Molei, Wu, Xiangrong, Shen
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Quantifying Viscoelastic Properties of Nylon-6,6 Actuators [PDF]
, 2018 Orthostatic Hypotension (OH) is a prevalent condition affecting 52.1% of stroke patients, characterized by a drop in atrial blood pressure upon standing.
Tamma, Poornima
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Bi-directional series-parallel elastic actuator and overlap of the actuation layers [PDF]
Bioinspiration & Biomimetics, 2016 Several robotics applications require high torque-to-weight ratio and energy efficient actuators. Progress in that direction was made by introducing compliant elements into the actuation. A large variety of actuators were developed such as series elastic actuators (SEAs), variable stiffness actuators and parallel elastic actuators (PEAs).
Raphaël Furnémont +4 more
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NOViSE: a virtual natural orifice transluminal endoscopic surgery simulator [PDF]
, 2016 Purpose: Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a novel technique in minimally invasive surgery whereby a flexible endoscope is inserted via a natural orifice to gain access to the abdominal cavity, leaving no external scars.
Barrow, A +4 more
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Non-Overshooting Force Control of Series Elastic Actuators
Solid State Phenomena, 2010 Whenever mechanical devices are used to interact with the environment, accurate control of the forces occurring at the interaction surfaces arises as an important challenge. Traditionally, force controlled systems utilize stiff force sensors in the feedback loop to measure and regulate the interaction forces.
Tokatli, O., and Patoglu, V.
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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 +5 more
core +2 more sources