Results 81 to 90 of about 2,590,880 (193)
Variable stiffness actuators : modeling, control, and application to compliant bipedal walking [PDF]
, 2013 Robots are traditionally used in factory environments, where they perform tasks with high precision and speed. This kind of robots is designed to have a high mechanical stiffness and with powerful motors, so that the required precision and speed can be achieved.
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A novel stiffness control method for series elastic actuator
, 2016 Compliance plays an important role in human-robot cooperation. 'However, fixed compliance, or fixed stiffness, is difficult to meet the growing needs of human machine collaboration. As a result, the robot actuator is demanded to be able to adjust its
Lin GM(林光模) +2 more
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Mechanical Simplification of Variable-Stiffness Actuators Using Dielectric Elastomer Transducers
Actuators, 2019 Legged and gait-assistance robots can walk more efficiently if their actuators are compliant. The adjustable compliance of variable-stiffness actuators (VSAs) can enhance this benefit. However, this functionality requires additional mechanical components
David P. Allen +4 more
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Control of Actuators with Linearized Variable Stiffness
IFAC-PapersOnLine, 2019 Abstract In this paper, a new model of variable stiffness actuators (VSA) is presented. In the proposed model, the stiffness and deformation of the elastic element can be controlled independently. The structure of the model allows the use of optimal control methods, such as linear quadratic regulator, as is demonstrated in the paper. The model can be
Sergei Savin +2 more
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Design and Modeling of Parallel Two-degree-of-freedom Variable Stiffness Actuator
, 2019 In this paper, a new 2-DOF variable stiffness actuator based on a 2-DOF spherical wrist parallel mechanism is proposed. A 2-DOF VSA based on a parallel ball wrist mechanism and a parallel arrangement of leaf spring sets is used.
Ge Z(葛壮) +5 more
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Towards variable stiffness control of antagonistic twisted string actuators
, 2014 This paper shows the possibility of using two antagonistic twisted strings actuators as a new type of variable stiffness actuator. Variable stiffness model of the twisted string actuator is identified empirically, and the control strategy is proposed for
Dmitry Popov +5 more
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Materials & DesignPatients with hemiplegia, neurologic injuries, and sports trauma require muscle strength rehabilitation training, the existing rigid equipment is uncomfortable and bulky, and wearable training devices are not suitable for the whole-stage of passive ...
Yaqing Feng, Pengyuan Wang, Chenghao Wu
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Energy Efficient Actuation with Variable Stiffness Actuators
, 2010 Research effort in the field of variable stiffness actuators is steadily increasing, due to their wide range of possible applications and their advantages. In literature, var- ious control methods have been proposed, solving particular problems in human-robot and robot-environment interaction applications, in which the mechanical compliance introduced ...
Visser, L.C. +2 more
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International Journal of Advanced Robotic Systems, 2015 The variable stiffness actuator (VSA) is an open research field. This paper introduces the conceptual design and analysis of four types of novel variable stiffness actuators (VSAs).
Jishu Guo, Guohui Tian
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Shock isolation using switchable stiffness
, 2008 This study investigates a novel stiffness control strategy applied to the problem of shock isolation. This is based on the principle that the stiffness and mass are the principal physical properties that control the passive system shock response.
Ledezma Ramirez, Diego Francisco
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