Overcoming the Torque/Stiffness Range Tradeoff in Antagonistic Variable Stiffness Actuators
IEEE/ASME Transactions on Mechatronics, 2021 To face the demand for applications in which robots have to safely interact with humans and the environment, the research community developed new types of actuators with compliant characteristics. To embody compliance into the actuator, elastic elements with fixed or variable compliance can be used.
Mengacci R. +4 more
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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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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 ...
Visser, Ludo C. +2 more
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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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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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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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Multi-physic system simplification method applied to a helicopter flight axis active control [PDF]
, 2012 A helicopter flight axis control, which is a complex multi-physic system, is modelled using an energetic based graphical tool: the Energetic Macroscopic Representation.
BARRE, Pierre-Jean +3 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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Parameters Identification for a Composite Piezoelectric Actuator Dynamics [PDF]
, 2015 This work presents an approach for identifying the model of a composite piezoelectric (PZT) bimorph actuator dynamics, with the objective of creating a robust model that can be used under various operating conditions.
Saadeh, Mohammad, Trabia, Mohamed
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Time-Energy Optimal Trajectory Planning for Variable Stiffness Actuated Robot
IEEE Access, 2019 A variable stiffness actuator is inspired by the human motor control and is the most popular actuator used to exploit the human performance and human-like motion.
Chen Ji, Minxiu Kong, Ruifeng Li
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