Energy-efficient variable stiffness actuators
WebOct 1, 2012 · A concept design of an energy-efficient variable stiffness actuator is presented and implemented. Simulations of the model and experiments on the realized prototype validate the design principle. WebFeb 19, 2016 · Abstract. Variable stiffness structures that enable a wide range of efficient load-bearing and dexterous activity are ubiquitous in mammalian musculoskeletal systems but are rare in engineered systems because of their complexity, power, and cost. We present a new negative stiffness–based load-bearing structure with dynamically tunable …
Energy-efficient variable stiffness actuators
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WebJun 6, 2011 · Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed indepen Energy-Efficient Variable Stiffness Actuators IEEE Journals & Magazine … WebThe bipedal spring-loaded inverted pendulum (SLIP) model captures characteristic properties of human locomotion, and it is therefore often used to study human-like walking. The extended variable spring-loaded inverted pendulum (V-SLIP) model provides a control input for gait stabilization and shows robust and energy-efficient walking patterns. This …
WebThe valve-controlled hydraulic cylinder system (VCHCS) is commonly utilized in the underwater manipulator, which is the most important tool for subsea tasks. Hydraulic oil viscosity is very sensitive to pressure. Therefore, when working at different depths under different ambient pressures in the sea, the hydraulic oil viscosity and the pipeline … WebDec 1, 2024 · 1. Introduction. Variable stiffness actuators (VSAs) have become favorable in numerous robotic applications because they can independently separate the position …
WebMay 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 … WebAug 31, 2024 · The safety of human-robot interaction is an essential requirement for designing collaborative robotics. Thus, this paper aims to design a novel variable …
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 ...
WebAug 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 … felt b14 2011felt b14WebDec 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 … felt b12 triathlon bikeWebSep 27, 2024 · Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support … hotels yamunanagarWebThis actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping … This paper presents the working principle, the design and realization of a … hotels yamatoWebA 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 … hotels yangon myanmarWebJan 22, 2024 · Abstract. Variable stiffness actuators (VSAs) are widely explored as they could improve the safe performance for human-robot interaction and make the system torque controllable based on the internal compliance. This article presents a novel VSA based on the cam-based relocation mechanism (CRM-VSA), which is utilized to change … hotels yanitsa krapets bulgaria