Name
Abstract | ||
|---|---|---|
This paper shows the possibility of using two antagonistic twisted strings actuators as a new type of variable stiffness actuator. Variable stiffness model of the twisted string actuator is identified empirically, and the control strategy is proposed for simultaneous position and stiffness control of the actuator. A variable stiffness linear joint actuated by antagonistic twisted string actuators is proposed as a target system. The proposed model and control strategy make it possible to control the position and the stiffness of the joint without position and force sensor at the load side. The developed variable stiffness linear joint can be effectively used in applications where weight distribution is vital, such as exoskeleton systems and low weight manipulators. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6942944 | Intelligent Robots and Systems |
Keywords | Field | DocType |
actuators,elasticity,linear systems,mechanical variables control,position control,antagonistic twisted string actuators,control strategy,simultaneous position-stiffness control,variable stiffness actuator,variable stiffness control,variable stiffness linear joint,variable stiffness model identification,weight distribution | Force sensor,Stiffness,Computer science,Control theory,Direct stiffness method,Control engineering,DC motor,Exoskeleton,Weight distribution,Structural engineering,Actuator | Conference |
ISSN | Citations | PageRank |
2153-0858 | 4 | 0.58 |
References | Authors | |
4 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dmitry Popov | 1 | 17 | 6.68 |
| Igor Gaponov | 2 | 15 | 6.69 |
| Jee-Hwan Ryu | 3 | 24 | 5.13 |