Design, modeling and testing of a compact variable stiffness mechanism for exoskeletons
In this paper, the mechanical design of a novel variable stiffness mechanism (VSM) with
reconfigurability is presented. The design of VSM is based on a zero-length base link four …
reconfigurability is presented. The design of VSM is based on a zero-length base link four …
Macro-mini linear actuator using electrorheological-fluid brake for impedance modulation in physical human–robot interaction
R Chaichaowarat, S Nishimura… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
Robots designed to interact physically with humans are typically characterized by low
impedance and low output force, but in many circumstances, high force is needed …
impedance and low output force, but in many circumstances, high force is needed …
A variable stiffness robotic probe for soft tissue palpation
During abdominal palpation diagnosis, a medical practitioner would change the stiffness of
their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue …
their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue …
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 …
Zero torque compliant mechanisms employing pre-buckled beams
The concept of a statically balanced mechanism with a single rotational degree-of-freedom
is presented. The proposed device achieves static balancing by combining positive stiffness …
is presented. The proposed device achieves static balancing by combining positive stiffness …
[HTML][HTML] A novel design of planar high-compliance joint in variable stiffness module with multiple uniform stress leaf branches on rigid-flexible integral linkage
F Mei, S Bi, L Chen, H Gao - Mechanism and Machine Theory, 2022 - Elsevier
Benefit from the elastic element in the drivetrain, the variable stiffness actuators offer
advantages over traditional rigid actuators in security, robustness, energy consumption …
advantages over traditional rigid actuators in security, robustness, energy consumption …
Continuous finite-time output torque control approach for series elastic actuator
L Sun, M Li, M Wang, W Yin, N Sun, J Liu - Mechanical Systems and Signal …, 2020 - Elsevier
Abstract Series elastic actuator (SEA) is widely used in robots that intelligently interact with
humans, but unavoidably suffer from the influences brought by interactions, such as …
humans, but unavoidably suffer from the influences brought by interactions, such as …
Adaptation in variable parallel compliance: Towards energy efficiency in cyclic tasks
We present a compliance adaptation method for online natural dynamics modification of
multijoint robots performing cyclic tasks. In this method, parameters of multibasis nonlinear …
multijoint robots performing cyclic tasks. In this method, parameters of multibasis nonlinear …
Rotatable cam-based variable-ratio lever compliant actuator for wearable devices
This paper presents a novel variable stiffness mechanism based on the combination of a
rotatable cam and a variable-ratio lever principle. The proposed configuration results in i) a …
rotatable cam and a variable-ratio lever principle. The proposed configuration results in i) a …
A novel sliding mode control for series elastic actuator torque tracking with an extended disturbance observer
M Wang, L Sun, W Yin, S Dong… - 2015 IEEE International …, 2015 - ieeexplore.ieee.org
To realize ideal force/torque source in applications such as monopod hopping robots and
assistive robots, force/torque controlled series elastic actuators (SEA) are widely used …
assistive robots, force/torque controlled series elastic actuators (SEA) are widely used …