Results 11 to 20 of about 4,441 (262)
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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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
doaj +1 more source
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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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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IEEE Access, 2021 Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI). However, in the incidents of collision, the need of a fast response in stiffness
Irfan Hussain +6 more
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A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept
Actuators, 2014 The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often ...
Maarten Weckx +6 more
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IEEE Access, 2020 Current research into soft robots not only needs to improve their compliance, but also requires consideration of the real-time controllability of rigidity and flexibility. By combining the advantages of Pneu-Net structure and the driven jamming mechanism,
Feng-Yu Xu +3 more
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Constraint-based equilibrium and stiffness control of variable stiffness actuators [PDF]
2011 IEEE International Conference on Robotics and Automation, 2011 Considerable research effort has gone into the design of variable passive stiffness actuators (VSAs). A number of different mechanical designs have been proposed, aimed at either a biomorphic (i.e., antagonistic) design, compactness, or simplified modelling and control.
Matthew Howard 0001 +2 more
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A Stiffness Estimator for Agonistic–Antagonistic Variable-Stiffness-Actuator Devices [PDF]
IEEE Transactions on Robotics, 2014 Safe Physical Human Robot Interaction, conservation of energy and adaptability are just the main robotic applications that prompted the development of a number of Variable Stiffness Actuators (VSA). Implemented in a variety of ways, they use various technologies, and feature the most diverse mechanical solutions, all of which share a fundamentally ...
Tomas Menard +2 more
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