Analysis of Variable-Stiffness Characteristics of Variable-Stiffness Elastic Actuator
, 2023 In order to improve the stiffness of the flexible robot,this paper proposes a variable-stiffness elastic actuator to improve the rigidity of flexible robots. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. the tensile stiffness of the actuator is nonlinearly negatively correlated with the air
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu
openaire +1 more source
A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation [PDF]
, 2008 — Facing new tasks, the conventional rigid design of robotic joints has come to its limits. Operating in unknown environments current robots are prone to failure when hitting unforeseen rigid obstacles. Moreover, safety constraints are a major aspect for
Hirzinger, Gerd +3 more
core +1 more source
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 +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 +5 more
doaj +1 more source
Variable stiffness actuators: The user’s point of view [PDF]
The International Journal of Robotics Research, 2015 Since their introduction in the early years of this century, variable stiffness actuators (VSA) witnessed a sustained growth of interest in the research community, as shown by the growing number of publications. While many consider VSA very interesting for applications, one of the factors hindering their further diffusion is the relatively new ...
Giorgio Grioli +16 more
openaire +5 more sources
Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness [PDF]
, 2010 Tendon controlled robots with nonlinear mechanical tendon stiffness are becoming more and more popular. With the appropriate actuation, the joint position and the stiffness between motor and link side can be prescribed at the same time. In this paper,
Hirzinger, Gerd +5 more
core +1 more source
Wrist and forearm rotation of the DLR Hand Arm System: Mechanical design, shape analysis and experimental validation [PDF]
, 2011 The DLR Hand Arm System is based upon the variable stiffness concept which has been recently developed to improve impact robustness and energy efficiency of modern robots. This paper continues the work on the bidirectional antagonistic variable stiffness
F. Petit +7 more
core +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 +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