Results 21 to 30 of about 4,441 (262)
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
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Stiffness Estimation and Nonlinear Control of Robots with Variable Stiffness Actuation [PDF]
IFAC Proceedings Volumes, 2011 Abstract We consider the problem of estimating on line the nonlinear stiffness of flexible transmissions in robots with variable stiffness actuation in agonistic-antagonistic configuration. Stiffness estimation is obtained using a dynamic residual that provides a filtered version of the unmeasured flexibility torques, combining it with a recursive ...
DE LUCA, Alessandro, FLACCO, FABRIZIO
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Tendon-Driven Variable-Stiffness Pneumatic Soft Gripper Robot
Robotics, 2023 In recent times, the soft robotics field has been attracting significant research focus owing to its high level of manipulation capabilities unlike traditional rigid robots, which gives room for increasing use in other areas.
Safeh Clinton Mawah, Yong-Jai Park
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Design and Experiment of an Anthropomorphic Robot Hand for Variable Grasping Stiffness
IEEE Access, 2021 This paper introduces an anthropomorphic robot hand that has variable grasping stiffness to unknown objects without damage. The robot hand has four fingers, 13 DoFs (Degrees of Freedom) with three SEA (Series Elastic Actuator) modules in the index ...
Hyeonjun Park +3 more
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Energy-Efficient Variable Stiffness Actuators
IEEE Transactions on Robotics, 2011 Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated degrees of freedom, which determine how the elastic ...
Ludo C. Visser +2 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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Compact Variable Stiffness Actuator for Surgical Robots
Journal of Robotics and Mechatronics, 2022 Highly rigid surgical robots are capable of precise positioning; however, there is a risk of injury to the surrounding organs owing to undesired contact. To solve this problem, surgeons can change their stiffness according to the desired motion by contracting and relaxing the muscles. Therefore, surgical robots that can change their stiffness according
Toshiro Osaka +4 more
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Research and analysis of resonant and stiffness of cylindrical dielectric elastomer actuator
Materials Research Express, 2021 Dielectric elastomer actuators draw great interest in the emerging technology of soft actuations. The drifting of resonance frequency and variable stiffness are commonly existed in soft actuations.
Jin Li +4 more
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Elastic Actuator Design Based on Bending of Cylindrical Beam for Robotic Applications
Actuators, 2020 The lack of suitable actuators has hampered the development of high-performance machines or robots that can compete with living organisms in terms of motion, safety, and energy efficiency.
Reis Murat +2 more
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MECHANICAL VIBRATION CONTROL USING VARIABLE STIFFNESS ACTUATOR
Journal of Engineering, 2006 Active control strategy had been used for controlling the vibration response, with considering the simplification in the design and keep away from complexity and high cost in order to extend the actual application of the active control systems.
Bahaa Ibraheem Kazem, Yarub Omer Naji
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