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A variable-stiffness and healable pneumatic actuator
Materials Horizons, 2023A pneumatic actuator based on variable-stiffness and self-healing polymers shows high load capacity at room temperature but can be actuated pneumatically upon heating. And it can be thermally healed after damaging, thus can prolong its service time.
Hong-Qin Wang +4 more
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Towards a robust variable stiffness actuator
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013Robots with Variable Stiffness Actuators (VSA) are intrinsically flexible in the joints. The built-in mechanical spring not only has the advantage of a higher peak performance, but also leads to a more robust robot. This paper presents and analyzes the threats to a VSA equipped robot that arise from external or internal origin. Influences of mechanical,
Wolf, Sebastian +1 more
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Limit cycles and stiffness control with variable stiffness actuators
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012Variable 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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Drum stroke variation using Variable Stiffness Actuators
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014One 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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Variable Stiffness Actuator Structure for Robot
2021Based on the idea of regulating the variation on stiffness by controlling the number of springs involved in the work, this paper designs a kind of variable stiffness actuator (VSA) which can be applied to the field of robot. The variable stiffness structure takes the spiral tensile spring as the elastic element, and the number of springs Participating ...
Chuanyi Cui, Kai Guo, Jie Sun
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Torque Estimation in Variable Stiffness Actuators
2016 International Conference on Systems Informatics, Modelling and Simulation (SIMS), 2016For the use in rehabilitation robotic devices, various types of actuators are currently being investigated. Variable impedance actuators seem promising concerning individualized training, comfort and safety. For the control of actuators, some sensors are required, however, to keep the rehabilitation device light, also the implementation of measuring ...
Bernhard Penzlin +3 more
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2011 IEEE International Conference on Robotics and Automation, 2011
For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion.
Byeong-Sang Kim, Jae-Bok Song
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For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion.
Byeong-Sang Kim, Jae-Bok Song
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TASK SPACE CONTROL OF ROBOTSWITH VARIABLE STIFFNESS ACTUATION
IFAC Proceedings Volumes, 2010Abstract Physical human-robot interaction represents one of the current challenges in robotics. To this end, the development of safe and dependable robots is actually changing the design of robotic devices, introducing actuation systems and transmission elements with relevant and programmable compliance and soft covers able to emulate the human skin ...
PALLI, GIANLUCA, MELCHIORRI, CLAUDIO
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A mechatronic approach for robust stiffness estimation of variable stiffness actuators
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013This paper proposes a novel mechatronic approach for on-line robust estimation of both torque and stiffness of Variable Stiffness Actuators (VSA). The proposed solution is demonstrated robust with respect to uncertainties affecting both the dynamic parameters of the motor and to the efficiency of the motor gearbox.
Cirillo A +3 more
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Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation
2010 IEEE International Conference on Robotics and Automation, 2010The variable stiffness actuation concept is considered to provide a human-friendly robot technology. This paper examines a joint concept called the bidirectional antagonistic joint which is a extension of antagonistic joints. A new operating mode called the helping mode is introduced, which increases the joint load range.
Florian Petit +5 more
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