Energy-efficient variable stiffness actuators
WebDec 1, 2024 · 1. Introduction. Variable stiffness actuators (VSAs) have become favorable in numerous robotic applications because they can independently separate the position and stiffness control and have many advantages over traditional stiff actuators, including improvements in the safety of human-robot interactions, a higher capacity for disturbance … WebDec 1, 2024 · Introduction. Variable stiffness actuators (VSAs) have become favorable in numerous robotic applications because they can independently separate the position and stiffness control and have many advantages over traditional stiff actuators, including improvements in the safety of human-robot interactions, a higher capacity for disturbance …
Energy-efficient variable stiffness actuators
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Webadjustment of stiffness as well as energy storage is possible. For this it requires two separate motors for position control and compliance control. Adjustable compliance Actuators have much advantages over classical Stiff Actuators for robotic and prosthetics application where variable stiffness is needed continuously. WebThe stored elastic energy was released rapidly at ∼22 ms. The musculoskeletal system achieved ∼68% energy efficiency for executing high bending motion from a straight configuration to a 158 mm radius. Our energy efficiency exceeded that of soft actuators reported in the literature, which ranged from 2.5% to 30% [41,42,43]. The nonlinear ...
WebIn this paper, a generic, port-based model for variable stiffness actuators is presented, with which a wide variety of designs can be modeled and analyzed. From the analysis of the model, it is possible to derive kinematic properties that variable stiffness actuator designs should satisfy in order to be energy efficient. WebSeries elastic actuators are very popular in rehabilitation robotics. Among other advantages, elastic elements between the actuator and the load permit to store and release energy during the task completion. To comply with different gaits and cadences, it is necessary to modify the stiffness and thus to design Variable Stiffness Actuators (VSA).
WebDec 31, 2024 · The lack of suitable actuators has hampered the development of high-performance machines or robots that can compete with living organisms in terms of motion, safety, and energy efficiency. The adaptation properties of biological systems to environmental variables—for example, the control performance of biological muscle with … WebSep 5, 2024 · A bionic gecko foot with variable stiffness was then designed according to the results of the adhesive model and the structure with variable bending stiffness. Inspired by the adhesion-desorption behavior of the large gecko paw, an active desorption mechanism was designed to make the paw exhibit asymmetric adhesion-desorption …
WebDec 1, 2024 · In contrast, the stiffness of active VSMs can be adjusted without concern for the effect of any external loads. However, to realize active adjustment of the stiffness, additional inputs of energy are necessary. Pneumatic actuators and servomotors are commonly used to actuate the variable stiffness parts in VSMs.
WebVariable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output … mt touchWebA novel stiffness modulation method is proposed to achieve variable stiffness with respect to human status and the results validate experimentally the methods for bionic compatible stiffness modulation. Due to intensive human-robot interaction in exoskeletons, it is desirable to design and control the exoskeletons with behavior compatible to human … how to make small letter in powerpointWeb[40] English, C. and Russell, D., Mechanics and stiffness limitations of a variable stiffness actuator for use in prosthetic limbs. Mechanism and Machine Theory. v34 i1. 7-25. Google Scholar [41] English, C. and Russell, D., Implementation of variable joint stiffness through antagonistic actuation using rolamite springs. Mechanism and Machine ... mt to usd conversionWebThe stored elastic energy was released rapidly at ∼22 ms. The musculoskeletal system achieved ∼68% energy efficiency for executing high bending motion from a straight … m t townWebJun 9, 2016 · In this work, we propose a novel variable stiffness mechanism that can achieve both linear-spring behaviour whilst maintaining an energy efficient characteristic. This paper will present the working principle, mechanical design and characterization of the joints stiffness properties (verified via experimental procedure). mt townsWebAug 12, 2015 · Variable stiffness actuators (VSAs) are a new generation of robotic drives that are developed to enhance the robot’s ability to safely interact with unknown and dynamic environments. Furthermore, stiffness adjsutability can enhance energy efficiency in some particular applications, e.g. periodic motions with different frequencies. To adjust … mt to winnipeg timeWebMay 11, 2024 · Variable Stiffness Actuator (VSA) is the core mechanism to achieve physical human–robot interaction, which is an inevitable development trend in robotic. The existing variable stiffness actuators are basically single degree-of-freedom (DOF) rotating joints, which are achieving multi-DOF motion by cascades and resulting in complex robot … mt to west glacierm mt