Results 21 to 30 of about 5,207 (292)
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
doaj +1 more source
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
doaj +1 more source
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
doaj +1 more source
Variable Impedance Actuators: Moving the Robots of Tomorrow [PDF]
, 2012 Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans.
Lefeber, D. +47 more
core +1 more source
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
openaire +2 more sources
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
openaire +2 more sources
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
openaire +1 more source
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
openaire +2 more sources
Design and performance analysis of reconfigurable variable stiffness compliant actuator
, 2023 Compliant actuators can achieve safe interaction between robots and humans due to their inherent flexibility, and have strong environmental adaptability.
Bai, Shaoping +4 more
core +1 more source
Variable stiffness prosthetic joint [PDF]
The current invention is related to a variable stiffness prosthetic joint, for example a variable stiffness prosthetic kneejoint, comprising an inferior part, a superior part, and a variable stiffness actuator.
Carloni, Raffaella, Tagliabue, Gregorio
core +5 more sources