Results 31 to 40 of about 3,779 (258)

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, Kenichiro Seto, D. S. V. Bandara, Hirofumi Nogami, Jumpei Arata   +4 more
openaire   +1 more source

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, Edgar Bolívar, Sophie Farmer, Walter Voit, Robert D. Gregg   +4 more
doaj   +1 more source

Study of Dynamic Performance and Control Strategy of Variable Stiffness Actuator System Based on Two-Inertial-System

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, Xiaopeng Li, Jinchi Xu, Renzhen Chen, Hexu Yang   +4 more
doaj   +1 more source

On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture

Robotics, 2019
Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far.
Matteo Malosio, Francesco Corbetta, Francisco Ramìrez Reyes, Hermes Giberti, Giovanni Legnani, Lorenzo Molinari Tosatti   +5 more
doaj   +1 more source

Adaptive Neural Network Control of Serial Variable Stiffness Actuators

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, Yongping Pan, Tairen Sun, Yubing Zhang, Xiaohui Xiao   +4 more
doaj   +1 more source

Design and Evaluation of a Novel Variable Stiffness Hip Joint Exoskeleton

Sensors
An exoskeleton is a wearable device with human–machine interaction characteristics. An ideal exoskeleton should have kinematic and kinetic characteristics similar to those of the wearer.
Tao Yang, Chifu Yang, Feng Jiang, Bowen Tian   +3 more
doaj   +1 more source

Characterization of Control-Dependent Variable Stiffness Behavior in Discrete Muscle-Like Actuators

Applied Sciences, 2018
This paper presents the modeling, characterization and validation for a discrete muscle-like actuator system composed of individual on–off motor units with complex dynamics inherent to the architecture.
Caleb Fuller, Joshua Schultz
doaj   +1 more source

Design and Control of a Discrete Variable Stiffness Actuator With Instant Stiffness Switch for Safe Human-Robot Interaction

IEEE Access, 2021
Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI). However, in the incidents of collision, the need of a fast response in stiffness
Irfan Hussain, Ahmad Albalasie, Mohammad I. Awad, Khaled Tamizi, Zhenwei Niu, Lakmal Seneviratne, Dongming Gan   +6 more
doaj   +1 more source

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., Stramigioli, Stefano, Bicchi, Antonio   +2 more
openaire   +2 more sources

A novel design of shape-memory alloy-based soft robotic gripper with variable stiffness

International Journal of Advanced Robotic Systems, 2020
Soft robotic grippers with compliance have great superiority in grabbing objects with irregular shape or fragility compared with traditional rigid grippers.
Mingfang Liu, Lina Hao, Wei Zhang, Zhirui Zhao   +3 more
doaj   +1 more source