Results 1 to 10 of about 2,590,880 (193)
A Pneumatic Particle-Blocking Variable-Stiffness Actuator [PDF]
Sensors, 2023 In order to improve the stiffness of flexible robots, this paper proposes a variable-stiffness elastic actuator. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage.
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu
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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
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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 +6 more
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Modeling, Control, and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA) [PDF]
Frontiers in Robotics and AI, 2018 This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control, and numerical simulations of a novel Binary-Controlled Variable Stiffness Actuator (BcVSA) aiming ...
Irfan Hussain +4 more
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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
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Advanced Intelligent Systems, 2020 The inherent compliance of soft robots often makes it difficult for them to exert forces on surrounding surfaces or withstand mechanical loading. Controlled stiffness is a solution to empower soft robots with the ability to apply large forces on their ...
Yegor Piskarev +5 more
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Design and Experiment Investigation on Soft Grippers with Modular Variable Stiffness Structure
Micromachines, 2023 Soft grippers have good adaptability and flexibility for grasping irregular or fragile objects, and to further enhance their stiffness, soft grippers with variable stiffness have been developed.
Pengbing Zhao +4 more
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Design and Analysis of a Linear Digital Variable Stiffness Actuator
IEEE Access, 2021 In this paper, a novel variable stiffness mechanism (VSM) based on specially designed S-springs made from shape memory alloy (SMA) is developed.
Yapeng Xu, Kai Guo, Jie Sun, Jianfeng Li
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Mathematics, 2023 The study of position control for variable stiffness actuators is important for improving their energy efficiency and robustness. In this paper, for the previously proposed nonlinear variable stiffness actuator, firstly, a dynamic model of the variable ...
Zemin Yang +4 more
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Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism
Actuators, 2020 The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM ...
Yinglong Chen +2 more
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