Microfabricated tunable bending stiffness device

Tabata, Osamu; Konishi, Satoshi; Cusin, P.; Itô, Yûichi; Kawai, F.; Hirai, Shinichi; Kawamura, Sadao

doi:10.1109/memsys.2000.838484

Cited by 19 publications

(6 citation statements)

References 5 publications

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“…This study considers the use of variable stiffness as a beneficial functionality in its own right, however, the aforementioned review highlighted the use of Electro-Bonded Laminate (EBL) technology for variable stiffness. Tabatha et al [5] presented a variable bending stiffness concept using thin polyimide layers between nickel electrodes. Voltage increases the observed friction between layers, thus increasing bending resistance.…”

Section: Existing Literaturementioning

confidence: 99%

Electrostatic adhesion for added functionality of composite structures

Heath

Bond

Potter

2016

Smart Mater. Struct.

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Electrostatic adhesion can be used as a means of reversible attachment. The incorporation of electrostatic adhesion into fibre reinforced polymer (FRP) composite structures could provide significant value added functionality. Imparting large potential differences (~ 2 kV) across electrodes generates an attractive force, thus providing a means of attachment. This could be used as a reversible latching mechanism or as a means of controllable internal connectivity. Varying the connectivity for discrete elements of a substructure of a given design allows for control of internal load paths and moment of area of the cross section. This could facilitate variable stiffness (both in bending and torsion). Using a combination of existing fabrication techniques, functional electrodes have been integrated within a FRP. Copper polyimide thin film laminate material has been both co-cured with carbon fibre reinforced epoxy (CFRP) and bonded to PVC closed cell foam core material to provide a range of structural configurations with integrated electrodes. The ability of such integrated devices to confer variations in global bending stiffness of basic beam structures is investigated. Through the application of 4 kV across integrated electrostatic adhesive devices, a 112% increase in flexural stiffness has been demonstrated for a composite sandwich structure.

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Section: Existing Literaturementioning

confidence: 99%

Electrostatic adhesion for added functionality of composite structures

Heath

Bond

Potter

2016

Smart Mater. Struct.

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“…Usually, compliance is changed by adjusting the active length of a spring or the deflection point on a beam. Several groups have developed structure-controlled stiffness mechanisms [38][39][40], though none of them have been applied toward the development of autonomous dynamic legged locomotion systems.…”

Section: Variable Passive Compliant Actuatorsmentioning

confidence: 99%

Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running

Galloway

Clark

Koditschek

2013

Journal of Mechanisms and Robotics

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Humans and animals adapt their leg impedance during running for both internal (e.g., loading) and external (e.g., surface) changes. To date, the mechanical complexity of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This work describes the design of novel, structure-controlled stiffness legs for a hexapedal running robot to enable runtime modification of leg stiffness in a small, lightweight, and rugged package. As part of this investigation, we also study the effect of varying leg stiffness on the performance of a dynamical running robot.

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“…When an external force is applied to the system, the sheets will only be able to be displaced if the friction force is low. If vacuum or electrostatic methods are used to keep the sheets together, 30,31 the stiffness will increase. Instead of changing the inertia, it is also possible to change the effective length of a compliant sheet, as in the Mechanical Impedance Adjuster.…”

Section: Scs -Structure Controlled Stiffnessmentioning

confidence: 99%

Survey of Semi-Passive Locomotion Methodologies for Humanoid Robots

Neves¹,

Ventura²

2012

Adaptive Mobile Robotics

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Wheel-based locomotion is the most commonly used by mobile robots, due to its simplicity and robustness. However, when facing uneven terrain, such as steps or rocky terrain, its mobility is greatly reduced. Biped robots, in contrast, have a greater adaptation potential to these challenges due to the suitability of its structure. In spite of this, the traditional biped locomotion methods used by these platforms cause high energy consumption and display low adaptability to uneven terrain. The semi-passive or hybrid approach for biped locomotion allows for the (1) maximization of energy efficiency and (2) significant improvement of adaptability to uneven terrain. On one hand, this approach explores the dynamics of passive elements, like springs or rubber bands, in order to develop structures and walking gaits that minimize energy consumption. On the other hand, using passive elements grants complacency to the movement which increases the gait's stability, specially on irregular terrains. This paper presents a survey of methodologies for hybrid locomotion, ranging from the addition of basic passive elements to incorporating complex compliant actuators and implementing control algorithms.

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Microfabricated tunable bending stiffness device

Cited by 19 publications

References 5 publications

Electrostatic adhesion for added functionality of composite structures

Electrostatic adhesion for added functionality of composite structures

Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running

Survey of Semi-Passive Locomotion Methodologies for Humanoid Robots

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