Four-State Rotary Joint Control: Results With a Novel Programmable Brake

Tenzer, Yaroslav; Davies, Brian; Baena, Ferdinando Rodriguez y

doi:10.1109/tmech.2011.2125978

Cited by 4 publications

(1 citation statement)

References 21 publications

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“…Indeed controlling the damping component has proven more beneficial for some applications, particularly in the fields of prosthetics [25], orthotics [26]- [28], and rehabilitation robotics [29] where energy efficiency is less of a consideration and safe human interaction is of prime concern. Damping is controlled by the inclusion of brakes and clutches and the development of such mechanisms is proving to be a fertile field of research [30]- [33]. Differentials have also been used to combine two inputs such as two motors [34] or a motor and brake [35].…”

Section: Introductionmentioning

confidence: 99%

Linear Multimodal Actuation Through Discrete Coupling

Leach

Günther

Maheshwari

et al. 2014

IEEE/ASME Trans. Mechatron.

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Due to technological limitations, robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of behaviors is necessary for autonomous robots in uncertain complex environments. In an effort to increase the versatility of actuators, we introduce a new concept of multimodal actuation (MMA) that employs dynamic coupling in the form of clutches and brakes to change its mode of operation. The dynamic coupling allows motors and passive elements such as springs to be engaged and disengaged within a single actuator. We apply the concept to a linear series elastic actuator which uses friction brakes controlled online for the dynamic coupling. With this prototype, we are able to demonstrate several modes of operation including stiff position control, series elastic actuation as well as the possibility to store and release energy in a controlled manner for explosive tasks such as jumping. In this paper, we model the proposed concept of actuation and show a systematic performance analysis of the physical prototype that we developed in our laboratory.Index Terms-Brake and clutch, discrete couplings, serieselastic actuator (SEA).

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Section: Introductionmentioning

confidence: 99%

Linear Multimodal Actuation Through Discrete Coupling

Leach

Günther

Maheshwari

et al. 2014

IEEE/ASME Trans. Mechatron.

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Research on a multimodal actuator-oriented power-assisted knee exoskeleton

Han¹,

Shan-an²,

Zhou³

et al. 2016

Robotica

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SUMMARYA multimodal actuator was proposed to achieve a more agile power-assisted exoskeleton in uncertain complex walking environments. A power-assisted knee exoskeleton prototype based on a multimodal actuator was constructed. With this multimodal actuator, several modes of operation in the power-assisted knee exoskeleton during a motion cycle are actuated, including series elastic actuation, stiff position control, and energy storage and release. Also, a control strategy for power-assisted knee exoskeleton motion control based on a state machine is developed. The ability of the power-assisted knee exoskeleton to follow human motion was tested, and the results showed that the angle error of the knee exoskeleton followed the human motion is not more than 0.4˚, and the response time error of the knee exoskeleton followed the human motion is not more than 0.2 s.

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