Journal ArticleDOI
A Novel Intrinsically Energy Efficient Actuator With Adjustable Stiffness (AwAS)
TLDR
In this article, a new actuator with adjustable stiffness (AwAS) is presented, which can regulate the joint stiffness through a wide range with minimum energy consumption by means of a small motor.Abstract:
In this paper, a new actuator with adjustable stiffness (AwAS) is presented. AwAS is capable of controlling the position and stiffness of a joint, independently. The proposed actuator can regulate the joint stiffness through a wide range with minimum energy consumption by means of a small motor. This is possible due to its novel mechanical configuration that achieves the stiffness regulation not through the control of spring pretension (as in most of the existing variable stiffness joints) but by using the variable lever arm principle. The regulation of the lever arm length is achieved through the displacement of the spring elements. An important consequence of this mechanism is that the displacement needed to change the stiffness is perpendicular to the forces generated by the spring. This helps to reduce the energy/power required to regulate the stiffness. It is experimentally shown that AwAS is capable of minimizing energy consumption through exploiting the natural dynamics in real time for both fixed and variable frequency motions.read more
Citations
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Journal ArticleDOI
Design and Control Considerations for High-Performance Series Elastic Actuators
TL;DR: In this paper, the design and control of a prismatic series elastic actuator with high mechanical power output in a small and lightweight form factor is discussed. And the actuator's performance is demonstrated through a series of experiments designed to operate at the limits of its mechanical and control capability.
Journal ArticleDOI
A New Actuator With Adjustable Stiffness Based on a Variable Ratio Lever Mechanism
TL;DR: The actuator with adjustable stiffness (AwAS-II) as discussed by the authors is an enhanced version of the original realization AwAS, which can change the stiffness in a much broader range even by using softer springs and shorter lever arm.
Journal ArticleDOI
Minimizing Energy Consumption of Wheeled Mobile Robots via Optimal Motion Planning
Shuang Liu,Dong Sun +1 more
TL;DR: In this article, a new optimal motion planning aiming to minimize the energy consumption of a wheeled mobile robot in robot applications is presented. But this method is not suitable for wheeled vehicles.
Journal ArticleDOI
Flexible Medical Devices: Review of Controllable Stiffness Solutions
TL;DR: In this paper, the authors present controllable stiffness mechanisms described in the literature for applications with or without shape-locking performances, and a classification of the solutions based on their working principle is proposed.
Proceedings ArticleDOI
Selective stiffening of soft actuators based on jamming
TL;DR: Granular jamming and layer jamming are investigated as two possible methods to achieve stiffening with PneuFlex actuators, a type of soft continuum actuator, achieving up to 8-fold increase in stiffness.
References
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Proceedings ArticleDOI
Series elastic actuators
TL;DR: It is proposed that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea.
Journal ArticleDOI
The mechanics of running: How does stiffness couple with speed?
TL;DR: A mathematical model for terrestrial running is presented, based on a leg with the properties of a simple spring, which shows that at high forward speed, KLEG is a nearly linear function of both U and V, while the effective vertical stiffness is a quadratic function of U.
Journal ArticleDOI
Compliant actuator designs
TL;DR: The state of the art in the design of actuators with adaptable passive compliance is described, which is not preferred for classical position-controlled applications such as pick and place operations but is preferred in novel robots where safe human- robot interaction is required or in applications where energy efficiency must be increased by adapting the actuator's resonance frequency.
Journal ArticleDOI
Leg stiffness and stride frequency in human running
TL;DR: It is concluded that the most important adjustment to the body's spring system to accommodate higher stride frequencies is that leg spring becomes stiffer.
Proceedings ArticleDOI
Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction
TL;DR: An implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor, is described, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.
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