Design and Evaluation of a Series-Elastic Gyroscopic Actuator for Balance Assistance

Marquardt, Charlotte; Lemus, Daniel; Meijneke, C.

doi:10.1109/aim46487.2021.9517659

Cited by 1 publication

(1 citation statement)

References 23 publications

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“…1: Shear-mode thermo-active VIA prototype constructed with 3D-printed PETG components with integrated Peltiers. elastic actuators (SEA) have been successfully implemented in a wide variety of applications [5], [6], [7], [8]. This actuation technology provides many benefits in force controls of robots with advantages such as increased peak power output, passive energy storage, and low output impedance.…”

Section: Introductionmentioning

confidence: 99%

Toward a Novel Thermal-Based Variable Impedance Module Through Adjusting Viscoelastic Properties of a Thermoresponsive Polymer

Exley,

Johnson,

Jafari

2023

IEEE Trans. Med. Robot. Bionics

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In this work, we introduce an advanced thermoactive variable impedance module which builds upon our previous innovation in thermal-based impedance adjustment for actuation systems. Our initial design harnessed the temperatureresponsive, viscoelastic properties of Polycaprolactone (PCL) to modulate stiffness and damping, facilitated by integrated flexible Peltier elements. While effective, the reliance on compressing and the inherent stress relaxation characteristics of PCL led to suboptimal response times in impedance adjustments. Addressing these limitations, the current iteration of our module pivots to a novel 'shear-mode' operation. By conducting comprehensive shear rheology analyses on PCL, we have identified a configuration that eliminates the viscoelastic delay, offering a faster response with improved heat transfer efficiency. A key advantage of our module lies in its scalability and elimination of additional mechanical actuators for impedance adjustment. The compactness and efficiency of thermal actuation through Peltier elements allow for significant downsizing, making these thermal, variable impedance modules exceptionally well-suited for applications where space constraints and actuator weight are critical considerations. This development represents a significant leap forward in the design of variable impedance actuators, offering a more versatile, responsive, and compact solution for a wide range of robotic and biomechanical applications.

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Section: Introductionmentioning

confidence: 99%