Results 271 to 280 of about 235,022 (318)
Some of the next articles are maybe not open access.
Variable stiffness prosthetic joint
2023The current invention is related to a variable stiffness prosthetic joint, for example a variable stiffness prosthetic kneejoint, comprising an inferior part, a superior part, and a variable stiffness actuator. The invention is further related to series elastic actuator for a variable stiffness prostheticjoint according to the invention.
Tagliabue, Gregorio, Carloni, Raffaella
openaire
Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable ...
Yuki Matsutani +3 more
openaire +1 more source
Low-cost variable stiffness joint design using translational variable radius pulleys
Mechanism and Machine Theory, 2018Robot joints are expected to be safe, compliant, compact, simple and low-cost. Gravity compensation, zero backlash, energy efficiency and stiffness adjustability are some desired features in the robotic joints.
C. B. Yigit +2 more
semanticscholar +1 more source
On-line estimation of variable stiffness in flexible robot joints
The International Journal of Robotics Research, 2012Variable stiffness actuators (VSAs) are currently explored as a new actuation approach to increase safety in physical human–robot interaction (pHRI) and improve dynamic performance of robots. For control purposes, accurate knowledge is needed of the varying stiffness at the robot joints, which is not directly measurable, nonlinearly depending on ...
FLACCO, FABRIZIO +3 more
openaire +1 more source
An antagonistic variable-stiffness pneumatic flexible joint
Review of Scientific InstrumentsThis paper develops an antagonistic variable-stiffness pneumatic flexible joint in which two groups of artificial muscles are symmetrically distributed on both sides of the elastic thin plate. The elastic thin plate restricts the axial movement of the joint.
Xia Wang, He Peng, Dexu Geng
openaire +2 more sources
A Performance Evaluating Platform for Variable Stiffness Exoskeleton Joint
2021This paper presents a torque testing platform for variable stiffness evaluation of knee joint exoskeleton, a testing platform was designed based on the body size of a normal adult. It includes mechanical structure, control system and data acquisition. The mechanical structure is mainly composed of a stepper motor, a guide screw, a displacement sensor ...
Zhuo Ma 0004 +3 more
openaire +1 more source
Analysis of Variable-Stiffness Soft Finger Joints
2018This paper addresses the problem of designing an artificial finger with variable stiffness in its joints. Our approach is based on the principle of combining different means of actuation. Two different versions of variable-stiffness joints are presented and used in the design and manufacturing of three prototypes of gripper fingers.
Daniel Cardin-Catalan +2 more
openaire +1 more source
Variable Stiff Revolute Joint for Compliant Robot
Volume 6: Design, Systems, and Complexity, 2021Abstract Over the past decades industrial robot manipulators have expanded throughout the automation landscape with their high degree of repeatability and accuracy. For safety reasons these robots are not allowed to share their workspace along with humans, which limits the various tasks that can be performed by a human-robot ...
Manoj K. Sharma, Christopher Kitts
openaire +1 more source
A Novel Underactuated Robotic Finger with Variable Stiffness Joints
2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019Existing robotic hands mostly consist of rigid finger mechanism with constant joint stiffness, leading to poor handling performance and even unexpected safety issues. This paper proposed a novel underactuated robotic finger with variable stiffness joints based on human finger anatomy and electrostatic adhesion(ESA) principle.
Zhicheng Teng +5 more
openaire +2 more sources
Walking of Biped Robot with Variable Stiffness at the Ankle Joint
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking.
Qing Bi +5 more
openaire +1 more source