Results 11 to 20 of about 2,655,722 (289)
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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Constraint-based equilibrium and stiffness control of variable stiffness actuators [PDF]
2011 IEEE International Conference on Robotics and Automation, 2011 Considerable research effort has gone into the design of variable passive stiffness actuators (VSAs). A number of different mechanical designs have been proposed, aimed at either a biomorphic (i.e., antagonistic) design, compactness, or simplified modelling and control.
Matthew Howard 0001 +2 more
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Limit cycles and stiffness control with variable stiffness actuators
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012 Variable stiffness actuators realize highly dynamic systems, whose inherent mechanical compliance can be properly exploited to obtain a robust and energy-efficient behavior. The paper presents a control strategy for variable stiffness actuators with the primarily goal of tracking a limit cycle trajectory and a desired stiffness, which is a function of ...
R. Carloni, MARCONI, LORENZO
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Embodying Desired Behavior in Variable Stiffness Actuators* [PDF]
IFAC Proceedings Volumes, 2011 Variable stiffness actuators are a class of actuators with the capability of changing their apparent output stiffness independently from the actuator output position. This is achieved by introducing internally a number of compliant elements, and internal actuated degrees of freedom that determine how these compliant elements are perceived at the ...
Visser, L.C. +2 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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Adaptive Neural Network Control of Serial Variable Stiffness Actuators [PDF]
Complexity, 2017 This paper focuses on modeling and control of a class of serial variable stiffness actuators (SVSAs) based on level mechanisms for robotic applications. A multi-input multi-output complex nonlinear dynamic model is derived to fully describe SVSAs and the
Zhao Guo +4 more
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Actuators, 2017 Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper,
Philipp Beckerle +2 more
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Energy Efficient Actuation with Variable Stiffness Actuators [PDF]
, 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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Actuators, 2023 To improve collision safety in robot–human collaborative applications, increasing attention has been paid to rotational variable stiffness actuators. A new rotational variable stiffness actuator, which works in two stages, is proposed for hybrid passive ...
Caidong Wang +5 more
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ActuatorsEmerging robotic systems with compliant characteristics, incorporating nonrigid links and/or elastic actuators, are opening new applications with advanced safety features, as well as improved performance and energy efficiency in contact tasks.
Nikola Knežević +2 more
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