Variable Stiffness Structures Utilizing Pneumatic Artificial Muscles
MATEC Web of Conferences, 2019 Pneumatic artificial muscles (PAMs) can offer excellent force-to-weight ratios and act as shape-changing actuator under injecting the actuation fluid into their bladders. PAMs could be easily utilized for morphing structures due to their millimeter-scale
Ning Feng, Chang Yingli, Wang Jingze
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Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints. [PDF]
, 2007 In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use of transmission elements with nonlinear relation between the displacement and
Hirzinger, Gerd +12 more
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A 3 DOFs Mini Variable Stiffness Soft Pneumatic Actuator
, 2018 Surgical robots for minimal access surgery are used to enhance surgeons' performance by motion scaling and reduction of physiological tremor. The advantages of rigid robots include high precision and fast movements.
Manfredi, Luigi; id_orcid +2 more
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A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation
BiomimeticsThis paper presents a novel design for a bionic knee exoskeleton equipped with a variable stiffness actuator based on rope-driven artificial muscles. To meet the varying stiffness requirements of the knee joint across different gait modes, the actuator ...
Shikai Jin, Bin Liu, Zhuo Wang
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Torque and workspace analysis for flexible tendon driven mechanisms [PDF]
, 2010 Tendon driven mechanisms have been considered in robotic design for several decades. They provide lightweight end effectors with high dynamics. Using remote actuators it is possible to free more space for mechanics or electronics.
Chalon, Maxime +5 more
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, 2019 At this time, several industrial processes and service tasks need safe interactions between humans and robots. This safety can be achieved using compliance design and control of mechanisms. This paper presents a compliant revolute joint mechanism using a
Giorgio Cannata +9 more
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Anti-Disturbance Sliding Mode Control of a Novel Variable Stiffness Actuator for the Rehabilitation of Neurologically Disabled Patients. [PDF]
Front Robot AI, 2022 Mo L +6 more
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Monolithic electrostatic actuators with independent stiffness modulation
Nature CommunicationsRobotic artificial muscles, inspired by the adaptability of biological muscles, outperform rigid robots in dynamic environments due to their flexibility.
Yuejun Xu +3 more
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Weight Lifting Trajectory Optimization for Variable Stiffness Actuated Robot
Complexity, 2019 Variable stiffness actuator is a new actuation of robot which is inspired by motor control of human arm. And it is promising way to exploit the human-like performance and human-like motion.
Chen Ji, Minxiu Kong, Ruifeng Li
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Control of Adjustable Compliant Actuators
Machines, 2014 Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems.
Berno J.E. Misgeld +4 more
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