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The twisted string actuator is an actuator that is gaining popularity in various engineering and robotics and applications. However, the fundamental limitation of actuators of this type is the uni-directional action, meaning that the actuator can contract but requires external power to return to its initial state. This paper proposes 2 novel passive extension mechanisms based on buckling effect to...
This paper contributes to quantifying the notion of robotic fitness by developing a set of necessary conditions that determine whether a small quadruped has the ability to open a class of doors or climb a class of stairs using only quasi-static maneuvers. After verifying that several such machines from the recent robotics literature are mismatched in this sense to the common human scale environment,...
The ability to change stiffness is a capability exhibited through the animal kingdom, with many recent advances in tunable stiffness in the area of robotics. In this paper, we propose a mechanism design that provides the ability to make modular subcomponents with tunable stiffness by creating a bi-stable mechanism that exhibits different stiffnesses in each of the stable configurations. The design...
A Spring-Loaded-Inverted Pendulum (SLIP) model has been applied to many legged robots, such as quadruped robots, for realizing trotting, bounding, and galloping motions. The indecipherable damping factors, however, hindered the implementation of the SLIP model in practice. In this paper, a control algorithm is proposed to realize the ideal springy motion of a robotic leg. A Kalman filter with a damped...
Compliant actuators have found their place in areas of prosthetics, rehabilitation and robot locomotion because they enable safe human-robot and stable robot-environment interaction, both non-trivial to achieve using conventional rigid actuation. These actuators are capable of varying their equilibrium position and apparent output stiffness in a way humans change the resting position and compliance...
This paper presents the design of a novel variable stiffness gripper with two parallel fingers (jaws). Compliance of the system is generated by using permanent magnets as the nonlinear springs. Based on the presented design, the position and stiffness level of the fingers can be adjusted simultaneously by changing the air gap between the magnets. The modeling of magnetic repulsion force and stiffness...
Despite the growing focus on the design of compliant mechanisms for robotics actuators that manifest several advantages in terms of robustness and interaction-related characteristics, the incorporation of elasticity in the actuation drive renders under-damped vibration modes and reduces the bandwidth of the system. The addition of damping principles into compliant systems can address such impediments...
The paper is focused on the development of a thermodynamic mathematical model describing the internal ballistic phenomena, taking place within working chambers of an airgun. The objective is to derive a governing equation modeling the change of gas temperature in a control volume subsuming several incoming and outgoing mass airflow rates. A novel algorithm for solving internal ballistics of all types...
This paper presents a surface scanning touch probe with low touch force for micro-CMM. The displacements of the probe are detected by a 2-DOF mechanism, which is comprised of a round frame, a tungsten stylus and a leaf spring fixed to the base. The design of the stylus is mounted at the centre of a stiff round frame, which in turn is fixed to a leaf spring; meanwhile, a live center which is installed...
The study of the rhizosphere with conventional methods can lead to errors in the analysis of the soil-root interface. The aim of this work is to design and carry out a versatile Rhizobox system that allows the study of different crops and types of research. For this purpose, a model that allows different adjustments in the support and development compartments of the rhizosphere and an array of access...
This paper deals with the output torque tracking control of a friction based electro-hydraulic load simulator (FEHLS) with time-varying spring stiffness and bearing friction. Although the FEHLS has no extra torque, the friction of the bearings will cause uncertain friction torque. Besides, due to the special mechanical structure of the FEHLS, the spring stiffness will vary near the zero position of...
Rigid haptic devices enable humans to physically interact with virtual environments, and the range of impedances that can be safely rendered using these rigid devices is quantified by the Z-Width metric. Series elastic actuators (SEAs) similarly modulate the impedance felt by the human operator when interacting with a robotic device, and, in particular, the robot's perceived stiffness can be controlled...
Compliant actuator is widely accepted for physical human-robot interaction due to its safety aspect, dynamic performance improvements and energy saving abilities. In this paper, based on the variable ratio lever mechanism, a new kind of Serial Variable Stiffness Actuator (SVSA) is proposed by using an Archimedean Spiral Relocation Mechanism (ASRM) to change the position of the pivot, implementing...
This study proposes a self-locking-type expansion mechanism for in-pipe robots. Previously, we proposed a highspeed locomotion mechanism using pneumatic hollow-shaft actuators; however, this mechanism lacked holding force and could not pass through a bent pipe. The proposed mechanism generates a large holding force and can easily pass through a bent pipe by invoking a self-locking phenomenon. We conceptualize...
This paper presents an interaction control algorithm for a dielectric elastomer (DE) membrane actuator. The proposed method permits to efficiently exploit the controllable stiffness of the material, and use it as a “programmable spring”, thus enhancing its use in applications such as robotic manipulation or haptic devices. To achieve this goal, a design algorithm based on linear matrix inequalities...
For urban electric bus, due to its operating conditions and relatively large vehicle weight, a IoT of energy is lost during braking, so it is very important to develop advanced braking energy recovery system. In this paper, an electromechanical double-acting pneumatic brake was designed by adding the electromagnet structure based on a parallel dual-chamber pneumatic brake, and then made the designed...
Impedance control based on robust force control can improves rehabilitation therapies. In this paper, we formulate and validate a model of a series-elastic-actuator-based ankle rehabilitation device that includes a second-order description of the human joint dynamics. In order to control the output impedance of the platform we used a cascade configuration with a PD position controller as outer loop...
Inspired by the swarming behavior of male mosquitoes that aggregate to attract and subsequently pursue a female mosquito, we study how oscillatory motion in autonomous swarming vehicles helps the success of target capture. We consider the scenario in which multiple guardians with limited perceptual range are deployed to protect an area from an aerial intruder. The intruder becomes a target once it...
Force-aided motor-driven actuators can be not only force-saving but energy-saving, therefore, has great potential to be applied to dry clutches which are key enablers to various automatic transmissions. However, the diaphragm spring in the dry clutch has high nonlinear stiffness, especially, with a negative phase. The high nonlinearity may induce complex dynamics. Taking the electromagnetic effect...
In this paper, a feedback controller is designed for a haptic interface using the H∞ model matching framework. The controller minimizes the H∞ norm between the haptic device-controller closed loop system and the desired virtual environment. The designed controller stably simulates high virtual spring stiffness at low sampling rate and accurately displays force feedback to the user. The model matching...
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