Paper Info
Title
Feedback linearization of variable stiffness joints based on twisted string actuators
Abstract
In this paper, an ongoing work for the implementation of a variable stiffness joint actuated by a couple of twisted string actuators in antagonistic configuration is reported. The twisted string actuation system is particularly suitable for very compact and light-weight robotic devices, like artificial limbs, exoskeletons and robotic hands, since it renders a very low apparent inertia at the load side, allowing the implementation of powerful tendon-based driving systems, using as actuators small-size DC motors characterized by high speed, low torque and very limited inertia. The basic properties of the twisted string actuation system are firstly presented, and the way how they are exploited for the implementation of a variable stiffness joint is discussed. A simple control algorithm for controlling the joint stiffness and position simultaneously is discussed, and a the feedback linearization of the device is taken into account and validated in simulation.
Year
DOI
Venue
2015
10.1109/ICRA.2015.7139571
IEEE International Conference on Robotics and Automation
Keywords
Field
DocType
actuators,feedback,linear systems,robots,antagonistic configuration,artificial limbs,exoskeletons,feedback linearization,light-weight robotic devices,robotic hands,small-size DC motors,tendon-based driving systems,twisted string actuators,variable stiffness joints,Tendon Transmission Systems,Twisted String Actuation,Variable Stiffness
Joint stiffness,Torque,Control theory,Stiffness,Feedback linearization,DC motor,Control engineering,Exoskeleton,Inertia,Engineering,Actuator
Conference
Volume
Issue
ISSN
2015
1
1050-4729
Citations 
PageRank 
References 
2
0.44
11
Authors
4
Name
Order
Citations
PageRank
Gianluca Palli126829.98
Pan, L.220.44
M. Hosseini351.94
Lorenzo Moriello4275.16