Results 21 to 30 of about 36,808 (296)
Efficient computation of inverse dynamics and feedback linearization for VSA-based robots [PDF]
, 2016 We develop a recursive numerical algorithm to compute the inverse dynamics of robot manipulators with an arbitrary number of joints, driven by variable stiffness actuation (VSA) of the antagonistic type.
BUONDONNO, GABRIELE, DE LUCA, Alessandro
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The design, kinematics and torque analysis of the self-bending soft contraction actuator [PDF]
, 2020 This article presents the development of a self-bending contraction actuator (SBCA) through analysis of its structure, kinematics, and torque formulas, and then explores its applications.
Al-Ibadi, A, Davis, ST, Nefti-Meziani, S
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An Electric Self‐Sensing and Variable‐Stiffness Artificial Muscle
Advanced Intelligent Systems, 2023 Soft robots have better flexibility than their rigid counterparts thus offering greater adaptability to changing environments. These robots made from flexible materials are generally with low stiffness and have limited capability to perform tasks that ...
Chen Liu +2 more
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A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept
Actuators, 2014 The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often ...
Maarten Weckx +6 more
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A Variable Stiffness Actuator Based on Leaf Springs: Design, Model and Analysis
Actuators, 2022 In order to adapt to complex and changeable mechanical conditions and make the deformable mechanisms perform well statically and dynamically, variable stiffness joints have been studied extensively.
Yifan Lu +5 more
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Time-Energy Optimal Trajectory Planning for Variable Stiffness Actuated Robot
IEEE Access, 2019 A variable stiffness actuator is inspired by the human motor control and is the most popular actuator used to exploit the human performance and human-like motion.
Chen Ji, Minxiu Kong, Ruifeng Li
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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
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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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Analysis of Variable-Stiffness Characteristics of Variable-Stiffness Elastic Actuator
, 2023 In order to improve the stiffness of the flexible robot,this paper proposes a variable-stiffness elastic actuator to improve the rigidity of flexible robots. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. the tensile stiffness of the actuator is nonlinearly negatively correlated with the air
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu
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, 2020 Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials. Here, we present a generic design principle that harnesses mechanical instability for a variety of spine-inspired fast
Chi, Y +9 more
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