Impedance control of redundant drive joints with double actuation

Nagai, Kiyoshi; Shiigi, Yasuto; Ikegami, Yasuyuki; Loureiro, Rui; Harwin, William

doi:10.1109/robot.2009.5152472

Cited by 9 publications

(4 citation statements)

References 10 publications

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“…For this actuator, they developed several control strategies to divide the required power over the motors and to deal with the holding brakes (Girard and Asada, 2016, 2017). Much work has also been done on impedance control (Nagai et al, 2009). A problem with these actuators in impedance control is that, in order to obtain high bandwidths, motors are required that are able to deliver high torques, but have low inertias.…”

Section: Types Of Redundant Actuatorsmentioning

confidence: 99%

Kinematically redundant actuators, a solution for conflicting torque–speed requirements

Verstraten

Furnémont

López-García

et al. 2019

The International Journal of Robotics Research

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Robots often switch from highly dynamic motion to delivering high torques at low speeds. The actuation requirements for these two regimes are very different. As a consequence, the average efficiency of the actuators is typically much lower than the efficiency at the optimal working point. A potential solution is to use multiple motors for a single motor joint. This results in a redundant degree of freedom, which can be exploited to make the system more efficient overall. In this work, we explore the potential of kinematically redundant actuators in dynamic applications. The potential of a kinematically redundant actuator with two motors is evaluated against a single-motor equivalent in terms of operating range, maximum acceleration, and energy consumption. We discuss how the comparison is influenced by the design of the actuator and the way how the power is distributed over the input motors. Our results support the idea that kinematically redundant actuators can resolve the conflicting torque–speed requirements typical of robots.

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Section: Types Of Redundant Actuatorsmentioning

confidence: 99%

Kinematically redundant actuators, a solution for conflicting torque–speed requirements

Verstraten

Furnémont

López-García

et al. 2019

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…The Escort system integrates Redundant Drive Joints (RDJs) developed for producing variable compliance at the robotic joints. The impedance control scheme for such RDJs has been proposed for producing compliant motions with higher frequencies [81], and its prototype design has been presented [42,79]. The primary merit of this approach is that reliable compliant motions in a wide admittance range can be produced by the Escort robot joints.…”

Section: Movement Shaping Systemsmentioning

confidence: 99%

Advances in upper limb stroke rehabilitation: a technology push

Loureiro

Harwin

Nagai

et al. 2011

Med Biol Eng Comput

207

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Strokes affect thousands of people worldwide leaving sufferers with severe disabilities affecting their daily activities. In recent years, new rehabilitation techniques have emerged such as constraint-induced therapy, biofeedback therapy and robot-aided therapy. In particular, robotic techniques allow precise recording of movements and application of forces to the affected limb, making it a valuable tool for motor rehabilitation. In addition, robot-aided therapy can utilise visual cues conveyed on a computer screen to convert repetitive movement practice into an engaging task such as a game. Visual cues can also be used to control the information sent to the patient about exercise performance and to potentially address psychosomatic variables influencing therapy. This paper overviews the current state-of-the-art on upper limb robot-mediated therapy with a focal point on the technical requirements of robotic therapy devices leading to the development of upper limb rehabilitation techniques that facilitate reach-to-touch, fine motor control, whole-arm movements and promote rehabilitation beyond hospital stay. The reviewed literature suggest that while there is evidence supporting the use of this technology to reduce functional impairment, besides the technological push, the challenge ahead lies on provision of effective assessment of outcome and modalities that have a stronger impact transferring functional gains into functional independence.

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“…1,2 Researches on using variable stiffness actuators with two motors and one elastic element have also been carried out in previous studies. [3][4][5][6][7][8][9] However, because the performance of the elastic element is similar to the function of a lowpass filter, the bandwidth of the elastic actuator is limited. Therefore, some designs of the joints driven by dual actuators and a gear transmission mechanism have been studied for robotic manipulator.…”

Section: Introductionmentioning

confidence: 99%

Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators

Tsai

et al. 2015

Advances in Mechanical Engineering

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Design of a new differential-velocity-type compliant joint with two motors is proposed for robotic manipulators. The speed/output torque of the differential-velocity-type joint is synthesized by controlling the differential speeds of a pair of actuators. Descriptions of the design concept, theoretical analysis, and the experiments are presented in this article. The experimental results showed that (1) the stiffness of the differential-velocity-type joint can be regulated by changing the speeds of both motors, (2) the differential-velocity-type joint actually reduced 7.9%-15.7% time compared with the single-drive joint when performing five cycles of reciprocation, and (3) a new design of delta-type robot with differentialvelocity-type driving modules was developed for verification. The experimental results showed that the differential-velocity-type delta robot can perform flexible assembly operations within a 0.028-mm tolerance.

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Impedance control of redundant drive joints with double actuation

Cited by 9 publications

References 10 publications

Kinematically redundant actuators, a solution for conflicting torque–speed requirements

Kinematically redundant actuators, a solution for conflicting torque–speed requirements

Advances in upper limb stroke rehabilitation: a technology push

Study on the characteristics of a homemade differential-velocity–type compliant joint for robotic manipulators

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