Design and torque control base on neural network PID of a variable stiffness joint for rehabilitation robot [PDF]
Frontiers in Neurorobotics, 2022 Variable stiffness joints have been gradually applied in rehabilitation robots because of their intrinsic compliance and greater ability to adjust mechanical stiffness. This paper designs a variable stiffness joint for upper limb rehabilitation training.
Bingshan Hu +5 more
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Conceptual mechanical design of antagonistic variable stiffness joint based on equivalent quadratic torsion spring [PDF]
Science Progress, 2020 The variable stiffness joint is a kind of flexible actuator with variable stiffness characteristics suitable for physical human–robot interaction applications.
Jishu Guo
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A Variable Stiffness Joint With Electrospun P(VDF-TrFE-CTFE) Variable Stiffness Springs [PDF]
IEEE Robotics and Automation Letters, 2018 This letter presents a novel rotational variable stiffness joint that relies on one motor and a set of variable stiffness springs. The variable stiffness springs are leaf springs with a layered design, i.e., an electro-active layer of electrospun aligned nanofibers of poly(vinylidene fluoride-trifluoroethylene-chlorotrifluoroethylene) [P(VDF-TrFE-CTFE)]
R. Carloni +4 more
semanticscholar +5 more sources
Design and Analysis of a Novel Variable Stiffness Joint for Robot
Actuators, 2022 The variable stiffness of robot joints plays an important role in improving the robot’s compliance, safety, and energy efficiency. In this paper, a novel type of variable stiffness joint based on a rack and pinion structure (VSJ-RP) is proposed.
Hui Jin +4 more
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Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator
Actuators, 2021 This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable ...
Ming Zhang +6 more
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Research on a Variable-Stiffness Joint and Its Application in Actuators
Actuators, 2023 Variable-stiffness actuators can flexibly adjust the overall or local stiffness of a structure, thus enabling reconstruction, adaptation, and locking capabilities that can meet a wide range of task requirements.
Qi Wang +4 more
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Tendon-Driven Gripper with Variable Stiffness Joint and Water-Cooled SMA Springs
Actuators, 2023 In recent years, there has been an increase in the development of medical robots to enhance interventional MRI-guided therapies and operations. Magnetic resonance imaging (MRI) surgical robots are particularly attractive due to their ability to provide ...
Phuoc Thien Do +5 more
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Design and Analysis of a Novel Variable Stiffness Joint Based on Leaf Springs
Applied SciencesIn response to challenges like the complexity and limited scalability of existing variable stiffness joints, a novel variable stiffness joint, based on leaf spring elements, is introduced in this paper. The joint stiffness can be adjusted in real time by
Caidong Wang +4 more
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IEEE Access, 2020 The variable stiffness joint (VSJ) has the characteristics of independent and controllable position and stiffness. The variable stiffness characteristics and inherent flexibility make the VSJ suitable to be used as the actuation joint of the physical ...
Jishu Guo
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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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