Results 11 to 20 of about 2,590,880 (193)
Limit cycles and stiffness control with variable stiffness actuators
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012 Variable stiffness actuators realize highly dynamic systems, whose inherent mechanical compliance can be properly exploited to obtain a robust and energy-efficient behavior. The paper presents a control strategy for variable stiffness actuators with the primarily goal of tracking a limit cycle trajectory and a desired stiffness, which is a function of ...
R. Carloni, MARCONI, LORENZO
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Unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton
International Journal of Advanced Robotic Systems, 2017 This article presents the design and experimental testing of a unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton.
Jun Zhu +4 more
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A pneumatic particle-blocking variable-stiffness bending actuator
AIP AdvancesThis study introduces a variable-stiffness pneumatic bending actuator to enhance the stiffness of flexible robots. The bending actuator combines the working principles of a pneumatic drive, a wedge structure, and particle blockage.
He Peng, Xia Wang, Dexu Geng
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Design of a Variable Stiffness Actuator Based on Flexures [PDF]
Journal of Mechanisms and Robotics, 2011 Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human–robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed
PALLI, GIANLUCA +3 more
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Drum stroke variation using Variable Stiffness Actuators [PDF]
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 One interesting field of robotics technology is related to the entertainment industry. Performing a musical piece using a robot is a difficult task because music presents many features like melody, rhythm, tone, harmony and so on. Addressing these tasks with a robot is not trivial to implement.
Y. Kim +3 more
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Design and Performance Analysis of Compliant Actuator Mechanism with Variable Stiffness
Jixie chuandong, 2022 Controllable variable stiffness compliant actuator mechanism has the characteristics of high compliance, high environmental adaptability and good man-machine interaction.
Liu Rong +4 more
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Dynamic Modelling and Experimental Investigation of an Active–Passive Variable Stiffness Actuator
ActuatorsTo overcome the limitations imposed by the low flexible angle of conventional robots, an active–passive variable stiffness elastic actuator (APVSA) is investigated and a nonlinear dynamic model for the APVSA is established, considering the factors of the
Caidong Wang +4 more
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Flexure Variable Stiffness Actuators
Advanced Intelligent Systems, 2022 Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of moving parts, and reducing the mechanical efficiency.
Frédéric H. Giraud +2 more
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Online Reconfiguration of a Variable-Stiffness Actuator [PDF]
IEEE/ASME Transactions on Mechatronics, 2018 This paper presents an algorithm to adjust the configuration of a variable-stiffness actuator to reduce its electrical energy requirements during the execution of repetitive tasks. The algorithm is based on the gradient descent optimization method with a modification of the adaptation step size, a forgetting term, and a projection rule to cope with the
Rene Jimenez-Fabian +4 more
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Actuators, 2023 To improve collision safety in robot–human collaborative applications, increasing attention has been paid to rotational variable stiffness actuators. A new rotational variable stiffness actuator, which works in two stages, is proposed for hybrid passive ...
Caidong Wang +5 more
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