Results 61 to 70 of about 2,590,880 (193)

Design and Characterization of Twisted and Coiled Polymers and Their Applications as Soft Actuators

IEEE Access
This study is an experimental investigation of twisted and coiled polymer actuators, focusing on characterization of the effects of design and operating parameters on the actuator performance. Using nylon-6 monofilaments, a custom fabrication and testing
Jacob Martin, Marc Doumit
doaj   +1 more source

Optimal Control for maximizing Link Velocity of Robotic Variable Stiffness Joints [PDF]

, 2011
In this paper we evaluate the potential of Variable Stiffness Actuation to utilize its inherent joint elasticity and capability to adjust the intrinsic joint stiffness.
Albu-Schäffer, Alin Olimpiu, Sebastian Wolf, Haddadin, Sami, Weis, Michael, Sami Haddadin, Alin Albu-Schäffer, Wolf, Sebastian, Michael Weis   +7 more
core   +1 more source

Variable Stiffness Linear Actuator Based on Differential Drive Fiber Jamming

, 2023
Variable stiffness technologies have been widely adopted in soft robotics, also combining them with different actuation technologies and demonstrating the potential to increase the range of possible applications of soft systems, such as soft continuum ...
Lucrezia Lorenzon, Luca Arleo, Matteo Cianchetti   +2 more
core   +1 more source

A real time robust observer for an agonist antagonist variable stiffness actuator [PDF]

, 2013
We consider the problem of estimating the time-varying stiffness in real-time of a Variable Stiffness Actuator in an agonistic-antagonistic configuration. The estimation of the stiffness is done in two steps.
GRIOLI, GIORGIO, BICCHI, ANTONIO, A. Bicchi, T. Menard, MENARD, TOMAS, G. Grioli   +5 more
core   +2 more sources

Conceptual mechanical design of antagonistic variable stiffness joint based on equivalent quadratic torsion spring

Science Progress, 2020
The variable stiffness joint is a kind of flexible actuator with variable stiffness characteristics suitable for physical human–robot interaction applications.
Jishu Guo
doaj   +1 more source

Walking with a powered ankle-foot orthosis: the effects of actuation timing and stiffness level on healthy users

Journal of NeuroEngineering and Rehabilitation, 2020
Background In the last decades, several powered ankle-foot orthoses have been developed to assist the ankle joint of their users during walking. Recent studies have shown that the effects of the assistance provided by powered ankle-foot orthoses depend ...
Marta Moltedo, Tomislav Baček, Ben Serrien, Kevin Langlois, Bram Vanderborght, Dirk Lefeber, Carlos Rodriguez-Guerrero   +6 more
doaj   +1 more source

Variable Stiffness Actuators: Review on Design and Components

IEEE/ASME Transactions on Mechatronics, 2016
Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build pas- sively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of
Wolf, Sebastian, Grioli, G., Eiberger, Oliver, Friedl, Werner, Grebenstein, Markus, Höppner, Hannes, Burdet, Etienne, Caldwell, D., Carloni, R., Catalano, M., Lefeber, D., Stramigioli, S., Tsagarakis, N., Van Damme, M., Van Ham, R., Vanderborght, B., Visser, L.C., Bicchi, Antonio, Albu-Schäffer, Alin Olimpiu   +18 more
openaire   +3 more sources

Control of a variable stiffness joint for catching a moving object [PDF]

, 2017
The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of ...
Stefan S. Groothuis, Raffaella Carloni, Kumle, Julian, Ajinkya A. Bhole, Carloni, Raffaella, Groothuis, Stefan S., Bhole, Ajinkya A., Julian Kumle   +7 more
core   +1 more source

Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method

Journal of Robotics, 2016
Compliant actuators are more advantageous than stiff actuators in some circumstances, for example, unstructured environment robots and rehabilitation robots. Compliant actuators are more adaptive and safe. Constant stiffness compliant actuators have some
Shaobin Lan, Zhibin Song
doaj   +1 more source

Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring

, 2022
The present paper investigates a variable stiffness elastic actuator, which was adjusted using a special-purpose mechanism. A model was derived to obtain the response of the actuator.
Abdullah, Oday Ibraheem, Youssef, George, Abbood, Wisam T., Nacy, Somer M.   +3 more
core   +1 more source