Journal ArticleDOI
Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction
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TLDR
This paper presents a 7-DOF anthropomorphic manipulator, which is basically a cable-driven manipulator that retains high stiffness and strength by using a unique lightweight tension-amplification mechanism that is amplified by the quadratic order.Abstract:
In this paper, a manipulator is proposed for safe human–robot interaction at high speed. The manipulator has both low mass and inertia and high stiffness and strength. It is basically a cable-driven manipulator; nevertheless, by using a unique lightweight tension-amplification mechanism, the manipulator retains high stiffness and strength. The joint stiffness, which is strongly related to the motion control performance, is amplified by the quadratic order. Both 1-degree of freedom (DOF) and 3-DOF joint mechanisms using the tension-amplification mechanism are presented and combined to develop a 7-DOF anthropomorphic manipulator named LIMS. The mass and inertia beyond the shoulder were 2.24 kg and 0.599 kg·m2, respectively, which are lower than those of a human. The stiffness of the developed elbow joint was 1410 N·m/rad, which is approximately seven times higher than that of a human. Considering the ratio of stiffness to inertia, the manipulator is expected to show a control performance that is comparable to those of conventional industrial manipulators. Comprehensive experiments, including joint stiffness tests and high-speed interaction tests, were conducted to verify the feasibility of the developed manipulator.read more
Citations
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Proceedings ArticleDOI
Quaternion Joint: Dexterous 3-DOF Joint Representing Quaternion Motion for High-Speed Safe Interaction
TL;DR: A dexterous three degree-of-freedom (3-DOF) wrist mechanism with a large range of motion and uniform manipulability without singular points throughout the entirerange of motion is presented.
Journal ArticleDOI
Geometric Robot Dynamic Identification: A Convex Programming Approach
TL;DR: This paper proposes a convex formulation under the same coordinate-invariant Riemannian geometric framework that directly addresses these and other deficiencies of the geometric approach, and shows markedly improved robustness and generalizability vis-à-vis existing vector space methods.
Journal ArticleDOI
A High-Performance Cable-Drive Module for the Development of Wearable Devices
TL;DR: A novel high-performance, cable-drive module with rolling cable transmissions (RoCT) that can efficiently transmit motion and mechanical power from an input to an output via an inner cable/rope and its properties are presented.
Journal ArticleDOI
Survey on Main Drive Methods Used in Humanoid Robotic Upper Limbs
TL;DR: Comparisons of the effects of the different drive methods on the overall structure of the humanoid robotic upper limb showed that the tendon drive system is easier to achieve light weight due to its simple structure, while the gear drive system can achieve a larger torque ratio which results in a larger output torque.
Proceedings ArticleDOI
CCRobot-III: a Split-type Wire-driven Cable Climbing Robot for Cable-stayed Bridge Inspection *
TL;DR: Experimental results have shown that CCRobotIII possesses outstanding climbing performance, high payload capacity, and good adaptability to complex conditions of cable surface, which has potential engineering applications on the cable-stayed bridge for fieldwork.
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
Fast and "soft-arm" tactics [robot arm design]
Antonio Bicchi,G. Tonietti +1 more
TL;DR: In this paper, the authors considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk.
Journal ArticleDOI
Inertial properties in robotic manipulation: an object-level framework
TL;DR: A unifying framework for the analysis and control of robotic systems is produced, beginning with an analysis of inertial prop erties based on two models that independently describe the mass and inertial characteristics associated with linear and angular motions.
Journal ArticleDOI
A New Actuation Approach for Human Friendly Robot Design
TL;DR: By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, it is shown that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.
Journal ArticleDOI
Compliant actuation of rehabilitation robots
Heike Vallery,Jan F. Veneman,E.H.F. van Asseldonk,R. Ekkelenkamp,Martin Buss,H. van der Kooij +5 more
TL;DR: It is concluded that compliant actuation and a lightweight exoskeleton provide effective means to accomplish the desired AAN behavior of a rehabilitation robot.
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