Novel passive Discrete Variable Stiffness Joint (pDVSJ): Modeling, design, and characterization

Awad, Mohammad I.; Gan, Dongming; Az-zu'bi, Ali; Thattamparambil, Jaideep; Stefanini, Cesare; Dias, Jorge; Seneviratne, Lakmal

doi:10.1109/robio.2016.7866591

Cited by 13 publications

(11 citation statements)

References 31 publications

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“…The system utilizes a lever mechanism with discrete lever arm lengths. The lever arm mechanism and the discrete variable stiffness actuators have been used in our previous passive exoskeleton design [13][14][15]. The paper is organized as follows: In section 2, the concept and the modeling of the variable stiffness mechanism is proposed.…”

Section: Citationmentioning

confidence: 99%

Modeling, Simulation and Proof-of-Concept of an Augmentation Ankle Exoskeleton with a Manually-Selected Variable Stiffness Mechanism

Abdulmajeed¹,

Al-Kaabi²,

Awad³

et al. 2020

Ann Robot Automation

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Section: Citationmentioning

confidence: 99%

Modeling, Simulation and Proof-of-Concept of an Augmentation Ankle Exoskeleton with a Manually-Selected Variable Stiffness Mechanism

Abdulmajeed¹,

Al-Kaabi²,

Awad³

et al. 2020

Ann Robot Automation

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“…Alternatively, they allow for a single actuator to actuate many degrees of freedom with a one-to-many architecture (Figure 1(c)) (Hawkes et al, 2016; Hunt et al, 2013). Discrete stiffness tuning has been demonstrated with clutches to control mechanical interaction with humans in haptics applications (Figure 1(d)) (Awad et al, 2016; Rossa et al, 2014; Sakaguchi et al, 2001). However, designers are challenged by the relatively high mass and power consumption of traditional active clutches that rely on solenoids, such as electromagnetic or magnetorheological clutches (Rouse et al, 2014; Shafer and Kermani, 2011).…”

Section: Introductionmentioning

confidence: 99%

The effects of electroadhesive clutch design parameters on performance characteristics

Diller

Collins

Majidi

2018

Journal of Intelligent Material Systems and Structures

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Actuators that employ clutches can exhibit mechanical impedance tuning and improved energy efficiency. However, these integrated designs have been difficult to achieve in practice because traditional clutches are typically heavy and consume substantial power. In this article, we describe a lightweight and low-power clutch that operates with electrostatic adhesion and achieves order-of-magnitude improvements in performance compared to traditional clutches. In order to inform appropriate design in a variety of applications, we experimentally determine the effect of clutch length, width, dielectric thickness, voltage, and electrode stiffness on the holding force, engage and release times, and power consumption. The highest performance clutch held 190 N, weighed 15 g, and consumed 3.2 mW of power. The best samples released and engaged within 20 ms, as fast as conventional clutches. We also conducted a fatigue test that showed reliable performance for over 3 million cycles. We expect electroadhesive clutches like these will enable actuator designs that achieve dexterous, dynamic movement of lightweight robotic systems.

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“…Another new method of stiffness variation was proposed through the addition and subtraction of elastic element involvement in actuator mechanism. The arrangements of elastic elements can be done in series [24] or in parallel, which are also called series-parallel elastic actuators (SPEAs). The approach of series-parallel arrangement is efficient in terms of energy and peak torque [25][26][27].…”

Section: Introductionmentioning

confidence: 99%

“…In this regard, we proposed various design topologies and optimized their design specifications according to the intended applications ranging from industrial to haptics and medical. Following this motivation, in [24], we presented an approach of realizing the arm exoskeleton (TELEXOS-I) for applications such as haptic-teleoperation and rehabilitation. The key motivation behind our design topology is the need for instantaneous switching between stiffness levels when applied for virtual reality (VR) or remote environment (RE) stiffness mapping applications, in addition to the need of low-energy consumption.…”

Section: Introductionmentioning

confidence: 99%

Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA)

et al. 2019

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A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA) targets the realization of complaint robotic manipulators. In this paper, we present the modeling, identification, and control of a discrete variable stiffness actuator (DVSA), which will be developed for complaint manipulators in the future. The working principle of the actuator depends on the involvement of series and parallel springs. We firstly report the conceptual design of a stiffness varying mechanism, and later the details of the dynamic model, system identification, and control techniques are presented. The dynamic parameters of the system are identified by using the logarithmic decrement algorithm, while the control schemes are based on linear quadratic control (LQR) and computed torque control (CTC), respectively. The numerical simulations are performed for the evaluation of each method, and results showed the good potentialities for the system. Future work includes the implementation of the presented approach on the hardware.

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Novel passive Discrete Variable Stiffness Joint (pDVSJ): Modeling, design, and characterization

Cited by 13 publications

References 31 publications

Modeling, Simulation and Proof-of-Concept of an Augmentation Ankle Exoskeleton with a Manually-Selected Variable Stiffness Mechanism

Modeling, Simulation and Proof-of-Concept of an Augmentation Ankle Exoskeleton with a Manually-Selected Variable Stiffness Mechanism

The effects of electroadhesive clutch design parameters on performance characteristics

Modeling, Identification, and Control of a Discrete Variable Stiffness Actuator (DVSA)

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