Adjustable Robotic Tendon Using a 'Jack Spring'

Hollander, Kevin W.; Sugar, Thomas G.; Herring, D.E.

doi:10.1109/icorr.2005.1501064

Cited by 94 publications

(76 citation statements)

References 6 publications

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“…This work did not address the possibility of adjusting the leg compliance. Another VPC element design is presented in [22]. The design possesses structure controlled-stiffness properties which can be simply adjusted using an integrated actuator.…”

Section: Variable Passive Compliance In Roboticsmentioning

confidence: 99%

New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

Koco

Mutka

Kovačić

2016

International Journal of Advanced Robotic Systems

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This paper presents the design of a novel variable passivecompliant (VPC) element utilized as a lower-leg implant of a fully electrically driven quadruped robot. It is designed as a slider-piston mechanism which ensures that the force produced during a foot-ground contact is directly perpendicular to the contact surface of an actuated revolute spring. In this way, by altering the stiffness of quadruped legs in a closed-loop manner, the VPC element enables the quadruped robot to adapt to varying terrain characteristics, ensuring a constant hopping frequency over a wide range of terrain-stiffness variations. The designed VPC element and its beneficial characteristics are described in detail. Mathematical relations are formulated that help to describe the influence of the VPC element during vertical hopping of a quadruped robot. The properties of the quadruped research platform with integrated VPC element were verified in simulation and through experiments.

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Section: Variable Passive Compliance In Roboticsmentioning

confidence: 99%

New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

Koco

Mutka

Kovačić

2016

International Journal of Advanced Robotic Systems

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“…This is to ensure that if the building is excited across the broadband which includes all its resonance frequencies, the vibration amplitude of the multi-mode system at steady state excitation is reduced [18]. …”

Section: Tuning the Advamentioning

confidence: 99%

Active Dynamic Vibration Absorber for Broadband Control of a Multi-Mode System: Simulation and Experimental Verification

Ladipo

Muthalif

2012

Journal of Low Frequency Noise, Vibration and Active Control

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The control of broadband steady state vibration amplitude of a multi-mode system is presented. This objective is achieved using an Active Dynamic Vibration Absorber (ADVA). The stiffness property of the ADVA is adaptively tuned to attenuate the vibration of the multi-mode system at resonance. The ADVA detects the excitation frequency of the multi-mode system and calibrates its stiffness property to give the required stiffness for that mode. To implement the ADVA, a prototype model with low modal frequencies is designed. The equations of the steady state response of the multi-mode system with the attached ADVA are derived. The behavior of the prototype model when the ADVA is attached to different locations is used to determine the optimal location of the ADVA. The simulation result shows a reduction in the broadband of the multi-mode system. The result of the implementation of the ADVA reveals a 46% , 73% and 97% vibration amplitude reduction at first, second and third mode of the multi-mode system respectively.

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“…prosthesis presented in [5], also includes a spring in parallel to the ankle motor unit and its initial tests have been reported in [12]. Additionally, the studies of soft actuators for the transtibial prostheses in [13], [14], [15] have shown that the energy efficiency of the system can be improved by storing the energy during stance phase and releasing it to provide active ankle push-off generation.…”

Section: Introductionmentioning

confidence: 99%

Conceptual design of an energy efficient transfemoral prosthesis

Ünal

Carloni

Hekman

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this study, we present the conceptual design of a fully-passive transfemoral prosthesis. The design is inspired by the power flow in human gait in order to have an energy efficient device. The working principle of the conceptual mechanism is based on three storage elements, which are responsible of the energetic coupling between the knee and the ankle joints. Design parameters of the prosthesis have been determined according to the energy absorption intervals of the human gait. Simulation results shows that the power flow of the system is comparable with human data. Finally, an initial prototype is presented as proof of concept.

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Adjustable Robotic Tendon Using a 'Jack Spring'

Cited by 94 publications

References 6 publications

New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

New Variable Passive-Compliant Element Design for Quadruped Adaptation to Stiffness-Varying Terrain

Active Dynamic Vibration Absorber for Broadband Control of a Multi-Mode System: Simulation and Experimental Verification

Conceptual design of an energy efficient transfemoral prosthesis

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