Name
Abstract | ||
|---|---|---|
We introduce a six-actuator robotic joint mechanism with biarticular coupling inspired by the human limb which neither requires pneumatic artificial muscles nor tendon coupling. The actuator can independently change monoarticular and biarticular stiffness as well as both joint positions. We model and analyse the actuator with respect to stiffness variability in comparison with an actuator without biarticular coupling. We demonstrate that the biarticular coupling considerably extends the range of stiffness with an 70-fold improvement in versatility, in particular with respect to the end-point Cartesian stiffness shape and orientation. We suggest using Cartesian stiffness isotropy as an optimisation criterion for future under-actuated versions. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907349 | ICRA |
Keywords | Field | DocType |
optimisation,optimisation criterion,robot dynamics,variable stiffness actuators,artificial limbs,six-actuator robotic joint mechanism,biarticular joint mechanism,stiffness ranges,biarticular coupling,cartesian stiffness isotropy,biarticular stiffness,end-point cartesian stiffness shape,pneumatic control equipment,monoarticular stiffness,human limb | Isotropy,Coupling,Stiffness,Control theory,Control engineering,Pneumatic artificial muscles,Engineering,Cartesian coordinate system,Actuator | Conference |
Volume | Issue | ISSN |
2014 | 1 | 1050-4729 |
Citations | PageRank | References |
0 | 0.34 | 12 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hannes Hoppner | 1 | 12 | 3.83 |
| Wolfgang Wiedmeyer | 2 | 0 | 0.34 |
| Patrick van der Smagt | 3 | 188 | 24.23 |