Results 21 to 30 of about 2,590,880 (193)
A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation [PDF]
, 2008 — Facing new tasks, the conventional rigid design of robotic joints has come to its limits. Operating in unknown environments current robots are prone to failure when hitting unforeseen rigid obstacles. Moreover, safety constraints are a major aspect for
Hirzinger, Gerd +3 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
doaj +1 more source
Wrist and forearm rotation of the DLR Hand Arm System: Mechanical design, shape analysis and experimental validation [PDF]
, 2011 The DLR Hand Arm System is based upon the variable stiffness concept which has been recently developed to improve impact robustness and energy efficiency of modern robots. This paper continues the work on the bidirectional antagonistic variable stiffness
F. Petit +7 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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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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A prototype of a novel energy efficient variable stiffness actuator [PDF]
, 2010 In this work, we present a proof of concept of a novel variable stiffness actuator. The actuator design is based on the conceptual design proposed in earlier work, and is such that the apparent output stiffness of the actuator can be changed ...
L C Visser +7 more
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