Results 21 to 30 of about 123,080 (295)

Amputee perception of prosthetic ankle stiffness during locomotion

Journal of NeuroEngineering and Rehabilitation, 2018
Background Prosthetic feet are spring-like, and their stiffness critically affects the wearer’s stability, comfort, and energetic cost of walking. Despite the importance of stiffness in ambulation, the prescription process often entails testing a limited
Max K. Shepherd, Alejandro F. Azocar, Matthew J. Major, Elliott J. Rouse   +3 more
doaj   +1 more source

A Variable Stiffness Actuator Based on Leaf Springs: Design, Model and Analysis

Actuators, 2022
In order to adapt to complex and changeable mechanical conditions and make the deformable mechanisms perform well statically and dynamically, variable stiffness joints have been studied extensively.
Yifan Lu, Yifei Yang, Yuan Xue, Jun Jiang, Qiang Zhang, Honghao Yue   +5 more
doaj   +1 more source

Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator

Actuators, 2021
This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable ...
Ming Zhang, Pengfei Ma, Feng Sun, Xingwei Sun, Fangchao Xu, Junjie Jin, Lijin Fang   +6 more
doaj   +1 more source

Coupling between the Output Force and Stiffness in Different Variable Stiffness Actuators

Actuators, 2014
The fundamental objective in developing variable stiffness actuators is to enable the actuator to deliberately tune its stiffness. This is done through controlling the energy flow extracted from internal power units, i.e., the motors of a variable ...
Amir Jafari
doaj   +1 more source

A novel design of shape-memory alloy-based soft robotic gripper with variable stiffness

International Journal of Advanced Robotic Systems, 2020
Soft robotic grippers with compliance have great superiority in grabbing objects with irregular shape or fragility compared with traditional rigid grippers.
Mingfang Liu, Lina Hao, Wei Zhang, Zhirui Zhao   +3 more
doaj   +1 more source

A numerical study on impact and compression after impact behaviour of variable angle tow laminates [PDF]

, 2013
Recent developments of variable angled tow (VAT) technology have indicated that variable stiffness composite laminates offer a strong potential for structural tailoring.
Dang, Thi D., Hallett, Stephen R.
core   +1 more source

Variable Impedance Actuators: Moving the Robots of Tomorrow [PDF]

, 2012
Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans.
Lefeber, D., Grioli, G., Haddadin, Sami, Stramigioli, S., A. Bicchi, Bicchi, Antonio, Carloni, R., Laffranchi, M., Haddadin, S., Jafari, A., Visser, L.C., Catalano, M.G., M. Catalano, Albu-Schäffer, Alin Olimpiu, Van Damme, M., F. Petit, Caldwell, D., M. Laffranchi, D. Caldwell, G. Ganesh, R. Carloni, Caldwell, D.G., Stramigioli, S.; id_orcid, Burdet, Etienne, Wolf, Sebastian, R. Van Ham, Garabini, M., B. Vanderborght, M. Grebenstein, S. Wolf, Catalano, M., Burdet, E., S. Haddadin, M. Garabini, Grebenstein, Markus, Ganesh, G., Vanderborght, B., D. Lefeber, M. Van Damme, Petit, F., Wolf, S., Van Ham, R., N. Tsagarakis, Albu-Schaeffer, A., Tsagarakis, N., Bicchi, A., E. Burdet, L. C. Visser   +47 more
core   +1 more source

Structural design and stiffness matching control of bionic variable stiffness joint for human–robot collaboration

Biomimetic Intelligence and Robotics, 2023
The physical compliance of interaction is an important requirement for safe and efficient collaboration between robots and humans, and the realization of human–robot compliance requires robot joints with variable stiffness similar to those of human ...
Xiuli Zhang, Liqun Huang, Hao Niu
doaj   +1 more source

Stiffness modeling of a variable stiffness compliant link

Mechanism and Machine Theory, 2020
Abstract Recently, a variable stiffness robotic link based on the rotating beam concept has been developed for applications in physical human robot interaction. A substantial challenge for design of such links is the modeling of stiffness behavior to permit stiffness control.
Tyler Morrison, Hai-Jun Su
openaire   +2 more sources

Stiffness Estimation and Nonlinear Control of Robots with Variable Stiffness Actuation [PDF]

IFAC Proceedings Volumes, 2011
Abstract We consider the problem of estimating on line the nonlinear stiffness of flexible transmissions in robots with variable stiffness actuation in agonistic-antagonistic configuration. Stiffness estimation is obtained using a dynamic residual that provides a filtered version of the unmeasured flexibility torques, combining it with a recursive ...
DE LUCA, Alessandro, FLACCO, FABRIZIO
openaire   +2 more sources