Adjustable Compliance Joint with Torsion Spring for Human Centred Robots

Chakarov, Dimitar; Tsveov, Mihail; Veneva, Ivanka; Mitrouchev, Peter

doi:10.5772/61931

Cited by 6 publications

(5 citation statements)

References 15 publications

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“…where: Es = energy k = spring constant x = linear displacement In the experimental reference frame made up of a torsion spring and an applied force which deploys a torque twisting it, the potential energy stored in that spring is given by [27]:…”

Section: Fick's Lawmentioning

confidence: 99%

Einstein’s Special Principle of Relativity and the Translation of Physical Laws

Fullybright

2023

Preprint

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Similarly to his special theory of relativity, Einstein's special principle of relativity extends beyond the limits currently known to it. Up to now, the principle has not been suspected to have the potential to translate laws. However, the principle holds an inherent capacity to translate physical laws and, in so doing, speeds up our understanding and control of physical reality. Such a translation of laws leads to the faster discovery of other laws, such as the Laws of Electronic Motion, characterizing the motion of electrons around the atomic nucleus, and the Third Law of Biological Resistance, facilitating the successful control of drug resistance in medicine. The ability of the special principle of relativity to translate laws shines forth once the said principle is duly interpreted. This interpretation exposes a parallelism between experimental frames of reference and justifies the applicability of the laws of one frame of reference in other parallel frames of reference. This process opens the door to our faster discovery of the laws governing a multiplicity of frames parallel to a frame we already know the laws of. In practice, the interpretation of Einstein's special principle of relativity speeds up our understanding of the workings of physical reality and strengthens our capacity to subdue matter.

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Section: Fick's Lawmentioning

confidence: 99%

Einstein’s Special Principle of Relativity and the Translation of Physical Laws

Fullybright

2023

Preprint

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“…These values are realized by an elastic element, which is a torsion spring, with a constant stiffness implemented between the driving motor and the driven arm. The structure-controlled stiffness approach for passive compliance realization [8][9][10] is based on manipulating the effective structure of the spring by changing some of its structural parameters, such as length, thickness, and width. Thus, an additional actuator for stiffness variation of a passive compliant element is added for each joint, except the actuator for joint position control.…”

Section: Introductionmentioning

confidence: 99%

“…22 Some of the solutions discussed above aim to achieve performance and realism of the haptic feedback [1][2][3]5 but do not pay attention to the quality of the interaction. Other solutions achieve natural safety in physical human/robot interaction [6][7][8][9][10][11][12][13][14][15][16][17] by including a compliant element but do not pay attention to the haptic feedback. When PAM is used as compliant element, [18][19][20][21][22][23] besides achieving the naturally low impedance of the drive, additional approaches must be sought to overcome the existing PAM limitations.…”

Section: Introductionmentioning

confidence: 99%

Adjusting the natural stiffness of a pneumatic powered exoskeleton designed as a virtual reality haptic device

Chakarov

Veneva

Tsveov

et al. 2017

International Journal of Advanced Robotic Systems

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This study describes the natural stiffness of a pneumatic powered exoskeleton arm, designed as a haptic device in virtual reality applications. It is important for the haptic device to provide a natural, safe, and comfortable physical mutual humanrobot interaction as well as realism for the haptic feedback. To meet these requirements, an exoskeleton possessing an actuation system based on pneumatic artificial muscles and feedforward impedance control is presented. A natural stiffness controller is included to passively adjust the desired stiffness of the exoskeleton. The parameters of the actuation system that determine the natural exoskeleton stiffness are analyzed. A scheme is constructed for joint torque control and end-effector stiffness adjustment under the antagonistic action of the pairs of pneumatic actuators. An optimizationbased approach is created for specifying the parameters determining the natural stiffness of the exoskeleton arm. Computer simulations are conducted for a preliminary assessment of options for adjusting the Cartesian stiffness. Additional experiments are performed for specifying the object stiffness according to the scenario of virtual gymnastics.

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“…In the experimental reference frame made up of a torsion spring and an applied force which 300 deploys a torque to twist it, the potential energy stored in the torsion spring is given by [27]: of the defining characteristics of one experimental reference frame in the other experimental reference frame: 1) a constant is involved in both reference frames: the torsion constant of the torsion spring in one and the spring constant of the linear spring in the other, 2) energy is stored in both reference frames, 3) displacement occurs in both reference frames: angular in one and linear in the other. Therefore, the first condition (translation) is met.…”

Section: Hopkinson's Lawmentioning

confidence: 99%

The Special Principle of Relativity and the Translation of Physical Laws

Fullybright¹

2018

Preprint

View full text Add to dashboard Cite

Similarly to his special theory of relativity, Einstein's special principle of relativity extends 10 beyond the limits currently known to it. Up to now, the principle has not been suspected to have the potential to translate laws. However, the principle holds an inherent capacity to translate physical laws and, in so doing, speeds up our understanding and control of physical reality. Such a translation of laws leads to the faster discovery of other laws, such as the laws of electronic motion, characterizing the motion of electrons around the atomic nucleus, and the Third Law of 15Resistance, facilitating the successful control of drug resistance in medicine. The ability of the special principle of relativity to translate laws shines forth once the said principle is duly interpreted. This interpretation exposes a parallelism between experimental frames of reference and justifies the applicability of the laws of one frame of reference in other parallel frames of reference.This process opens the door to our faster discovery of the laws governing a multiplicity of frames 20 parallel to a frame we already know the laws of. In practice, the interpretation of Einstein's special principle of relativity speeds up our understanding and control of the physical reality we live in and, applied to biological organisms, points to the immediate step we need to take towards the successful control of drug resistance in medicine.Keywords: relativity; translation; reference frame; law; drug; design; antibiotic; antimicrobial; 25 pathogen; resistance. Significance StatementSo far, no proposed solution has been effective in stopping drug resistance. In spite of the multiple contingency plans developed by the medical community worldwide, resistance has only 30 been getting worse and is now the number 1 medical threat mankind is facing. In characterizing resistance, we have already shown that biological resistance in general, and drug resistance in particular, is a phenomenon governed by at least two laws. In a companion article (cf. reference[6]), we show that drug resistance is governed by a third law which conditions its termination.Terminating resistance has become a requirement in both medicine and agriculture because of the 35 losses of life and the serious economic damages associated with it. Already, drug resistance over the coming decades is slated to cause several million deaths every year. The Third Law of Resistance, along with its consequential inferences, points to the immediate step we need to take for finally bringing resistance under control. However, Einstein's special principle of relativity is central to the derivation of the Third Law of Resistance. 40Relativity and the translation of physical laws

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Adjustable Compliance Joint with Torsion Spring for Human Centred Robots

Cited by 6 publications

References 15 publications

Einstein’s Special Principle of Relativity and the Translation of Physical Laws

Einstein’s Special Principle of Relativity and the Translation of Physical Laws

Adjusting the natural stiffness of a pneumatic powered exoskeleton designed as a virtual reality haptic device

The Special Principle of Relativity and the Translation of Physical Laws

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