A novel variable stiffness actuator: Minimizing the energy requirements for the stiffness regulation

Tsagarikis, Nikos G.; Jafari, Amir; Caldwell, Darwin G.

doi:10.1109/iembs.2010.5626413

Cited by 8 publications

(5 citation statements)

References 13 publications

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“…It can be noticed that the same modifications can be done to other VSAs to build an SPEA. AWAS [30], for example, if the mechanism varying the stiffness is not included, has a spring placed between the link setting the equilibrium position and the output which is similar to the MACCEPA. In this case a guide and tensioner can also be used to convert this VSA into a selfclosing mechanism.…”

Section: Intermittent Maccepamentioning

confidence: 99%

Bi-directional series-parallel elastic actuator and overlap of the actuation layers

et al. 2016

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Several robotics applications require high torque-to-weight ratio and energy efficient actuators. Progress in that direction was made by introducing compliant elements into the actuation. A large variety of actuators were developed such as series elastic actuators (SEAs), variable stiffness actuators and parallel elastic actuators (PEAs). SEAs can reduce the peak power while PEAs can reduce the torque requirement on the motor. Nonetheless, these actuators still cannot meet performances close to humans. To combine both advantages, the series parallel elastic actuator (SPEA) was developed. The principle is inspired from biological muscles. Muscles are composed of motor units, placed in parallel, which are variably recruited as the required effort increases. This biological principle is exploited in the SPEA, where springs (layers), placed in parallel, can be recruited one by one. This recruitment is performed by an intermittent mechanism. This paper presents the development of a SPEA using the MACCEPA principle with a self-closing mechanism. This actuator can deliver a bi-directional output torque, variable stiffness and reduced friction. The load on the motor can also be reduced, leading to a lower power consumption. The variable recruitment of the parallel springs can also be tuned in order to further decrease the consumption of the actuator for a given task. First, an explanation of the concept and a brief description of the prior work done will be given. Next, the design and the model of one of the layers will be presented. The working principle of the full actuator will then be given. At the end of this paper, experiments showing the electric consumption of the actuator will display the advantage of the SPEA over an equivalent stiff actuator.

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Section: Intermittent Maccepamentioning

confidence: 99%

Bi-directional series-parallel elastic actuator and overlap of the actuation layers

et al. 2016

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“…The new variables compliance actuator was proposed for prosthesis devices and exoskeleton systems by Tsagarikis et al 11 The design concept is mainly using antagonistic-actuated variable stiffness joints. They proposed the stiffness regulation for tuning actuator to resist the force.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a passive compliant actuation with positioning measurement by LED and photodiode detector for medical application

Suebsomran

2021

Measurement and Control

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Control of assistive exoskeleton robot recently has to be crucial of development and innovation of medical application. To support daily motions for humans, control application of assistive exoskeleton robot allows for limb movement with increased strength and endurance during patient’s wearable exoskeleton robot application. The interaction between such exoskeleton device and the human body at the connecting joint, especially the knees, is the main interest of this design formation. The assistive device requires to design and to develop into innovation design aspect. This research presents the novel design of an active compliant actuation joint in order to increasing the higher torque of actuation than conventional actuation joint. Control design of the higher torque actuation usually difficult priori to conventional torque control. This will contributed to applying the supervisory control for compliant actuation that verified by experiment method. Then the hybrid Radial Basis Function neural network (RBFNN) and PID were proposed for actuating torque control methods. Experimental results show that the design of supervisory control is get better response, and higher producing torque output than the conventional design. Error of torque control of compliant actuation is not instead of [Formula: see text] N·m for applying supervisory control, RBFNN with PID controller. Indeed, the low electromagnetic interference (EMI) positioning system using LED and photodiode detector is proposed to be usable in medical application.

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“…The aim of the research work of Kim (2013) is to analyse the work at the joint space of compliant legs for bipedal walking robots. Some researchers in Tsagarikis et al (2010) presented the design and realization of a new variable compliance actuator for robots physically interacting with humans that can control the stiffness using two motors. In the review work of Ham et al (2009) the state of the art in the design of actuators with passive adjustable compliance/controllable stiffness for robotic applications is described.…”

Section: Introductionmentioning

confidence: 99%

Biped Robots With Compliant Joints for Walking and Running Performance Growing

Maiorino

Muscolo

2020

Front. Mech. Eng.

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This paper deals with the problem of compliance in biped robots locomotion. After a first literature review, we designed and simulated a 3D virtual model of a biped robot conceived with the same link dimensions (and weights) of a standard man. In all simulation, the same input to the robot actuators are proposed, modifying only the compliance of the attached links. We first validated the model and then compared results increasing and reducing compliance on hip, knee and ankle joints. The very good results underline how the robot performances may be increased including the compliant element in the knee. In particular, we noted how including a proper value of the compliance in the knee, power and torque of the actuators may be reduced increasing robot speed.

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A novel variable stiffness actuator: Minimizing the energy requirements for the stiffness regulation

Cited by 8 publications

References 13 publications

Bi-directional series-parallel elastic actuator and overlap of the actuation layers

Bi-directional series-parallel elastic actuator and overlap of the actuation layers

Design and control of a passive compliant actuation with positioning measurement by LED and photodiode detector for medical application

Biped Robots With Compliant Joints for Walking and Running Performance Growing

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