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In this paper, we consider a robot with nonlinear springs located at each joints and acting in parallel with the actuators. We propose a method to simultaneously design the trajectory of the robot and the force/torque profiles of the springs for an optimal compensation of the gravity and inertial forces. First, we express the trajectory and force/torque profiles of the springs as a Hermite interpolation...
In this paper we present a cable mechanism which realizes a nonlinear rotational spring from a linear translational spring. The spring is pulled by a cable wound around a non-circular spool, which is rigidly attached to the joint. The non-circular shape of the spool induces a nonlinear relationship between its angular position and the torque created by the tension of the cable. Depending on the shape...
In this paper we present a cable mechanism which realizes a nonlinear rotational spring from a linear translational spring. The spring is pulled by a cable wound around a non-circular spool, which is rigidly attached to the joint. The non-circular shape of the spool induces a nonlinear relationship between its angular position and the torque created by the tension of the cable. Depending on the shape...
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