An actuator with physically variable stiffness for highly dynamic legged locomotion

Hurst, Jonathan; Chestnutt, Joel; Rizzi, Alfred A.

doi:10.1109/robot.2004.1302453

Cited by 182 publications

(124 citation statements)

References 21 publications

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“…Compliant actuators are gaining interest in the robotic community. Pneumatic artificial muscles [11](such as McKibben muscles, Festo muscles, PPAM [12]), electric compliant actuators (such as VIA [13], AMASC [14] and MACCEPA [15]) and voice coil actuators [16] are some examples of compliant actuators. While some of them exhibit adaptable compliance, so that the stiffness of the actuated joint can be changed, it is not required in the Probo robot.…”

Section: Multi-disciplinary Robotic User Interfacementioning

confidence: 99%

The Huggable Robot Probo, a Multi-disciplinary Research Platform

Goris

Saldien

Vanderniepen

et al. 2009

Communications in Computer and Information Science

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Abstract. The concept of the huggable robot Probo is a result of the desire to improve the living conditions of children in hospital environment. These children need distraction and lots of information. In this paper we present the concept of this new robot. The robot will be employed in hospitals, as a tele-interface for entertainment, communication and medical assistance. To communicate according to social rules, the robot needs the ability to show facial expressions. Using a well defined set of Action Units (AU) it's possible to express some basic emotions. A prototype of the robot's head, capable of showing these basic emotions is presented. In order to express emotions, an emotional interface is developed. The emotions, represented as a vector in an 2D emotion space, are mapped to the DOF used in the robot. A graphical user interface to control the virtual and real prototype is also presented.

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Section: Multi-disciplinary Robotic User Interfacementioning

confidence: 99%

The Huggable Robot Probo, a Multi-disciplinary Research Platform

Goris

Saldien

Vanderniepen

et al. 2009

Communications in Computer and Information Science

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“…This is comparable to passive walkers [4], which are able ergy efficiently, although restricted to a single walking speed. Different designs with adaptable compliance have been made: at Carnegie Mellon University the AMASC (Actuator with Mechanically Adjustable Series Compliance) [5], at the Vrije Universiteit Brussel the Robotics and Multibody Mechanics research group has developed the PPAM (Pleated Pneumatic Artificial Muscle) [6] used in the biped Lucy [7], at the University of Pisa, Italy, [8] the Variable Stiffness Actuator (VIA) is developed, at Georgia Institute of Technology, USA, a Biologically Inspired Joint Stiffness Control [9] is made.…”

Section: Stemmentioning

confidence: 99%

MACCEPA: the Actuator with Adaptable Compliance for Dynamic Walking Bipeds

Ham

Vanderborght

Damme

et al. 2006

Climbing and Walking Robots

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Walking robots can be divided into two categories: on one hand the fully actuated robots that don't use passive dynamics, and on the other hand the energy efficient passive walkers. For autonomous robots the energy storage is a problem, forecasting a bright future for passive walkers. At this moment the passive walkers are restricted to one walking speed due to the eigenfrequency, which is fixed by the mechanical constructions. Several actuators with adaptable compliant have been designed, but due to size, complexity or controllability these are difficult to implement in mpliance ca for dynamic walking, human-robotic interfaces and robotic rehabilitation devices. mpliance, Equilibrium Position, Actuators, Compliance control, Spring bipeds. Another application of the use of adaptable compliance is safe robothuman interaction. Sometimes a robot has to be stiff, e.g. for pick and place operations, but when moving between humans, a robot is preferably compliant. Also for exoskeletons or rehabilitation devices this co n improve ergonomics and speed up the rehabilitation process. The MACCEPA is a straightforward and easy to construct rotational actuator, of which the compliance can be controlled separately from the equilibrium position. The generated torque is a linear function of the compliance and of the angle between equilibrium position and actual position. This makes this actuator perfectly suitable

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“…These devices use electric motors that require a large gear reduction to achieve the desired torque for exoskeleton joints while maintaining a small size. However, when physical interaction with the world is required while maintaining interaction with the user, particularly interaction that involves an impact or kinetic energy transfer [25], the traditional approach of using stiff actuators from classical robotic applications to hold precise positions [22] is not ideal.…”

Section: List Of Tablesmentioning

confidence: 99%

“…Hurst et al [25] design an actuator that physically achieves stiffness variation, the Actuator with Mechanically Adjustable Series Compliance (AMASC), is another device based on the antagonistic configuration and was developed at Carnegie Mellon University. It is a complex mechanism with the main advantage that only one actuator is used to control the stiffness or equilibrium position.…”

Section: Amascmentioning

confidence: 99%

Variable-stiffness joints with embedded force sensor for high-performance wearable gait exoskeletons

Soto¹

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An actuator with physically variable stiffness for highly dynamic legged locomotion

Cited by 182 publications

References 21 publications

The Huggable Robot Probo, a Multi-disciplinary Research Platform

The Huggable Robot Probo, a Multi-disciplinary Research Platform

MACCEPA: the Actuator with Adaptable Compliance for Dynamic Walking Bipeds

Variable-stiffness joints with embedded force sensor for high-performance wearable gait exoskeletons

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