A Magnetically-Actuated Coiling Soft Robot With Variable Stiffness
IEEE Robotics and Automation Letters, 2023 Soft and flexible magnetic robots have gained significant attention in the past decade. These robots are fabricated using magnetically-active elastomers, are capable of large deformations, and are actuated remotely thus allowing for small robot size. This combination of properties is appealing to the minimally invasive surgical community, potentially ...
Lloyd, Peter +7 more
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Preliminary Design and Control of an Ankle Rehabilitation Robot With Variable Stiffness Actuator
IEEE AccessIntrinsic robotic compliance is crucial for enhancing the safety of physical human-robot interaction. This study proposes a variable stiffness ankle rehabilitation robot for rehabilitation training.
Laibin Luo +4 more
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Design and Dynamic Modeling of Variable Stiffness Joint Actuator Based on Archimedes Spiral
IEEE Access, 2018 Traditional rigid actuators are not applicable to robot applications involving explosive actions. Solutions suggested by previous studies have mainly focused on the concept of stiffness variation, its design and verification, and the explosive actions of
Wei Wang, Yanwei Zhao, Yangmin Li
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Design and Control of a Series–Parallel Elastic Actuator for a Weight-Bearing Exoskeleton Robot
Sensors, 2022 Weight-bearing exoskeletons are robots that need to carry loads and interact with humans frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of outputting sufficient force with high compliance and little weight. A series–
Tianshuo Wang +5 more
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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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Bipedal locomotion using variable stiffness actuation
CoRR, 2017 Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP) model has shown to be a good model for this purpose.
Ludo C. Visser +2 more
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Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA)
Actuators, 2019 A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA) targets the realization of complaint robotic manipulators.
Irfan Hussain +3 more
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Impedence Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling [PDF]
, 2008 The current discussion on physical human robot interaction and the related safety aspects, but also the interest of neuro-scientists to validate their hypotheses on human motor skills with bio-mimetic robots, led to a recent revival of tendondriven ...
Hirzinger, Gerd +4 more
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Design and Analysis of a 2-DOF Actuator with Variable Stiffness Based on Leaf Springs
, 2022 Variable Stiffness Actuator (VSA) is the core mechanism to achieve physical human–robot interaction, which is an inevitable development trend in robotic.
Yu Y(于艺) +4 more
core
Increasing Variable Stiffness Actuator-Response Using an Electromagnetic Spring [PDF]
, 2019 An electromagnetic spring-based variable stiffness actuator is a new concept with the potential to change stiffness faster than mechanical springs can; however, its nonlinear elastic property is a challenge in actuator design.
Han-Ping Yang +5 more
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