Reducing the energy consumption of robots using the bidirectional clutched parallel elastic actuator
Parallel elastic actuators (PEAs) have shown the abilto reduce the energy consumption of
robots. However, regular PEAs do not allow us to freely choose at which instant or …
robots. However, regular PEAs do not allow us to freely choose at which instant or …
Design and control of a discrete variable stiffness actuator with instant stiffness switch for safe human-robot interaction
Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system
for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI) …
for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI) …
A spring-embedded planetary-geared parallel elastic actuator
Parallel elastic actuation utilizing an elastic spring to reduce the required actuator torque is
one energy-efficient strategy suitable for various mechatronic applications relating to …
one energy-efficient strategy suitable for various mechatronic applications relating to …
Passive discrete variable stiffness joint (PDVSJ-II): Modeling, design, characterization, and testing toward passive haptic interface
In this paper, the modeling, design, and characterization of the passive discrete variable
stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a …
stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a …
Conceptual design and parameter optimization of a variable stiffness mechanism for producing constant output forces
H Liu, D Zhu, J Xiao - Mechanism and Machine Theory, 2020 - Elsevier
A variable stiffness mechanism is of great significance for simplifying the control scheme of a
robot for a polishing process, which requires that the mechanism complies with the …
robot for a polishing process, which requires that the mechanism complies with the …
+ SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms
G Mathijssen, R Furnémont, T Verstraten… - … on Robotics and …, 2016 - ieeexplore.ieee.org
Modern actuation schematics become increasingly ingenious by deploying springs and
locking mechanisms in series and/or parallel. Many of these solutions are, however, tailored …
locking mechanisms in series and/or parallel. Many of these solutions are, however, tailored …
Optimal design of a nonlinear series elastic actuator for the prosthetic knee joint based on the conjugate cylindrical cam
Active actuation is an essential method to enhance the performance of the prosthetic knee
joint. In this paper, a new nonlinear series elastic actuator based on the conjugate cylindrical …
joint. In this paper, a new nonlinear series elastic actuator based on the conjugate cylindrical …
Design of a novel passive binary-controlled variable stiffness joint (BpVSJ) towards passive haptic interface application
In this paper we present the design, development and experimental validation of a novel
Binary-Controlled Variable Stiffness Joint (BpVSJ) towards haptic teleoperation and human …
Binary-Controlled Variable Stiffness Joint (BpVSJ) towards haptic teleoperation and human …
Modeling, control, and numerical simulations of a novel binary-controlled variable stiffness actuator (bcvsa)
This research work aims at realizing a new compliant robotic actuator for safe human-robotic
interaction. In this paper, we present the modeling, control, and numerical simulations of a …
interaction. In this paper, we present the modeling, control, and numerical simulations of a …
[HTML][HTML] Design and Control of a Series–Parallel Elastic Actuator for a Weight-Bearing Exoskeleton Robot
Weight-bearing exoskeletons are robots that need to carry loads and interact with humans
frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of …
frequently. Therefore, the actuators of these exoskeletons are supposed to be capable of …