Results 31 to 40 of about 2,655,722 (289)
A Pneumatic Particle-Blocking Variable-Stiffness Actuator
Sensors, 2023 In order to improve the stiffness of flexible robots, this paper proposes a variable-stiffness elastic actuator. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. The anti-tensile stiffness of the actuator is nonlinearly negatively correlated with the air pressure because of the structural and ...
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu
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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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Design and control of variable stiffness actuation systems
, 2010 The paper describes a variable stiffness actuated joint based on two counter-acting actuators that operate on two elastic elements purposely designed in order to exhibit a non-linear elastic ...
MELCHIORRI, CLAUDIO +3 more
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Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators [PDF]
, 2022 Since safe human-robot interaction is naturally linked to compliance in these robots, this requirement presents a challenge for the positioning accuracy.
Höppner, Hannes +17 more
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Design and Dynamic Modeling of Variable Stiffness Joint Actuator Based on Archimedes Spiral
IEEE Access, 2018 Traditional rigid actuators are not applicable to robot applications involving explosive actions. Solutions suggested by previous studies have mainly focused on the concept of stiffness variation, its design and verification, and the explosive actions of
Wei Wang, Yanwei Zhao, Yangmin Li
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Modeling and design of energy efficient variable stiffness actuators [PDF]
, 2010 In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy ...
L C Visser +7 more
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International Journal of Advanced Robotic Systems, 2020 In this article, a novel robust tracking control scheme based on linear extended state observer with estimation error compensation is proposed for the tracking control of the antagonistic variable stiffness actuator based on equivalent nonlinear torsion ...
Jishu Guo, Junmei Guo, Zhongjun Xiao
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Compact Variable Stiffness Actuator for Surgical Robots
Journal of Robotics and Mechatronics, 2022 Highly rigid surgical robots are capable of precise positioning; however, there is a risk of injury to the surrounding organs owing to undesired contact. To solve this problem, surgeons can change their stiffness according to the desired motion by contracting and relaxing the muscles. Therefore, surgical robots that can change their stiffness according
Toshiro Osaka +4 more
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Mathematics, 2023 The study of position control for variable stiffness actuators is important for improving their energy efficiency and robustness. In this paper, for the previously proposed nonlinear variable stiffness actuator, firstly, a dynamic model of the variable ...
Zemin Yang +4 more
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Energy Efficient Control of Robots with Variable Stiffness Actuators [PDF]
, 2010 Variable stiffness actuators realize a particular class of actuators characterized by the property that the apparent output stiffness can be changed independently of the output position.
Raffaella Carloni +5 more
core +1 more source