The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The design employs direct drive torque motor to achieve a robot single joint with active compliance based on the impedance model. In order to maximize the torque density, transmission transparency and backdrivability, the joint employs a quasi-direct actuator that a single-stage planetary gear is mounted on the motor's rotor. When robot interacts with environments, it's inevitable to change the stiffness...
The tension control of wires can benefit from Series Elastic Actuator (SEA), which is a potential emerging actuator system. In this paper, it is verified that the tension of wires can be successfully controlled by a novel SEA, called Compact Planetary-geared Elastic Actuator (cPEA), which incorporates a planetary gear and a spring to achieve precise force sensing and compactness at the same time....
In this work we introduce the development of custom embedded servo-drivers intended to control robotic tele-operation joints. We present a class architecture which makes them simple to modify and improve, so as to implement a wide variety of control schemes in a fast and efficient manner. The tele-operation system under development is to be employed to operate industrial robots throughout inspection...
In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This leads to conflicting requirements for their actuators. Multiple gear ratios, like in a powertrain, address this issue by allowing an effective use of power over a wide range of output speed. However in robotics, as opposed to powertrains, the controlled...
This paper shows how a controls-oriented approach can be used to improve the functionality, energy efficiency and bulk/weight requirements of advanced exercise machinery. Exercise devices for the space environment are the motivation for this research, but other applications are certainly possible. The paper introduces a design concept involving a user force/velocity port, a mechanical transmission,...
In this paper, we show an effect of wobbling mass for a walking robot with inerters. In our previous papers, it was shown that wobbling mass improves walking performance of a walking robot with round shape feet. In this paper, it is shown that the wobbling mass also improves walking performance of a robot with impedance properties at ankles including inerters.
High speed legged locomotion involves high acceleration and extensive loadings of the leg, which impose critical challenges in actuator design. We introduce actuator dimensional analysis for maximizing torque density and transmission ‘transparency’. A front leg prototype developed based on insight from the analysis is evaluated for direct proprioceptive force control without force sensors. The vertical...
Quantification of arm stiffness is of great interest for a wide group of different research branches, because modulation of muscular stiffness represents the principal mechanism of motor control of movements. Past literature concentrated efforts in defining different methods to identify multijont hand stiffness, but the required computational burden make them hard to implelement. In the present work...
Measuring arm stiffness is of great interest for many disciplines from biomechanics to medicine especially because modulation of impedance represents one of the main mechanism underlying control of movement and interaction with external environment. Previous works have proposed different methods to identify multijoint hand stiffness by using planar or even tridimensional haptic devices, but the associated...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.