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
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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 +3 more
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Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism
Actuators, 2020 The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM ...
Yinglong Chen +2 more
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Design and Analysis of a Linear Digital Variable Stiffness Actuator
IEEE Access, 2021 In this paper, a novel variable stiffness mechanism (VSM) based on specially designed S-springs made from shape memory alloy (SMA) is developed.
Yapeng Xu, Kai Guo, Jie Sun, Jianfeng Li
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, 2009 The energetic optimization problem, e.g., searching for the optimal switch- ing protocol of certain system parameters to minimize the input work, has been extensively studied by stochastic thermodynamics.
Gong, Linchen +2 more
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Concept, modeling, and performance prediction of a low-cost, large deformable mirror [PDF]
, 2012 While it is attractive to integrate a deformable mirror (DM) for adaptive optics (AO) into the telescope itself rather than using relay optics within an instrument, the resulting large DM can be expensive, particularly for extremely large telescopes.
Andersen, Torben +3 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.
Howard, Matthew +2 more
openaire +2 more sources
Additive Gaussian Process Regression for Predictive Design of High‐Performance, Printable Silicones
Advanced Engineering Materials, EarlyView.A chemistry‐aware design framework for tuning printable polydimethylsiloxane (PDMS) for vat photopolymerization (VPP) is developed using additive Gaussian process (GP) modeling. Polymer network mechanics informs variable groupings, feasible formulation constraints, and interaction variables.
Roxana Carbonell +3 more
wiley +1 more source
Fully-Printable Soft Actuator with Variable Stiffness by Phase Transition and Hydraulic Regulations
Actuators, 2021 Actuators with variable stiffness have vast potential in the field of compliant robotics. Morphological shape changes in the actuators are possible, while they retain their structural strength.
Tingchen Liao +4 more
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Momentum Control of Humanoid Robots with Series Elastic Actuators
, 2017 Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking controllers ...
Nava, Gabriele +2 more
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