Development of passive elements with variable mechanical impedance for wearable robots

Kawamura, Sadao; Yamamoto, Takahisa; Ishida, Daijiro; Ogata, Tetsuya; Nakayama, Y.; Tabata, Osamu; Sato, Seiji

doi:10.1109/robot.2002.1013369

Cited by 58 publications

(42 citation statements)

References 3 publications

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“…This formulation is an adaption of the one presented in [15]. The ratio of E spine to E leg is a common expression used to account for situations in which members subject to bending are made of more than one material.…”

Section: Leg Stiffness Modelmentioning

confidence: 99%

See 1 more Smart Citation

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

Galloway

Clark

Koditschek

2009

Volume 7: 33rd Mechanisms and Robotics Conference, Parts a and B

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Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having properly tuned leg springs is essential for stable, robust and energetically efficient running at high speeds. Recent simulation studies indicate that having variable stiffness legs, as animals do, can significantly improve the speed and stability of these robots in changing environmental conditions. However, to date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This paper describes a new design of a "structurally controlled variable stiffness" leg for a hexapedal running robot. This new leg improves on previous designs' performance and enables runtime modification of leg stiffness in a small, lightweight, and rugged package. Modeling and leg test experiments are presented that characterize the improvement in stiffness range, energy storage, and dynamic coupling properties of these legs. We conclude that this variable stiffness leg design is now ready for implementation and testing on a dynamical running robot.

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Section: Leg Stiffness Modelmentioning

confidence: 99%

“…For example, in [15] a passive spring element is constructed from several layers of flexible sheets. The mechanical impedance of the passive element is adjusted by controlling the connectivity of the layers through an external stimulus such as a vacuum.…”

Section: Introductionmentioning

confidence: 99%

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

Galloway

Clark

Koditschek

2009

Volume 7: 33rd Mechanisms and Robotics Conference, Parts a and B

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“…In the material approach, a method of adjusting both shape and the elasticity of the display is proposed by using inverted pseudo plastic fluid. A passive element with variable mechanical impedance for wearable robots was proposed [14,15]. Related study provided effective the display method [1]- [17].…”

Section: Introductionmentioning

confidence: 99%

A Control Strategy of a Haptic Display Using Honeycomb

Ishibashi¹

2016

Proceedings of the 2016 International Conference on Biological Sciences and Technology

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Abstract. This paper proposes a kind of tactile display using composite materials. Proposed display consists of a core honeycomb structure and a bi-elastic material. The system has both the endoskeltal and the exoskeltal properties. Then, it can realize an elastic display strategy for rendering softness based on these flexible materials. In the system, pressed by an actuator, the display is stretched with its apparent stiffness changed. The internal honeycomb structure ensures that the display has the same stiffness value everywhere on its surface. Thus, we can control the stiffness of the display only with one actuator. At first, the structure and the control strategy of the display was expressed. Then, basic principal of the tactile display was examined. Some experiments were conducted to verify the effectiveness of the proposed display. In addition, robustness of the material structure was examined.

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“…The active coil length can be changed by inserting an axis into the spring, with a surface that can slide between the rings of the spring. The spring structure consists of many layered sheets in the solution presented in [7]. Thus, the idea is to increase the element stiffness by pressing the sheets together.…”

Section: Introductionmentioning

confidence: 99%

Adjustable Compliance Joint with Torsion Spring for Human Centred Robots

Chakarov

Tsveov

Veneva

et al. 2015

Int. j. adv. robot. syst.

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Human-oriented robots should be human-friendly, safe and impact-free. The present work is about the problem of adjustable compliance implementation in humanfriendly robots. A new passive compliance adjustable compliant joint based on a variable length leaf torsion spring is presented. It allows a wide range of independent positioning and stiffness regulation. Some characteristics of the leaf torsion spring are analysed: stiffness \compliance, torque, elastic deformation angle and generated potential energy. Numerical simulations are performed. The structural parameters' influence on the compliant joint's characteristics is estimated. Tests on a specially realized prototype of an adjustable compliant joint are carried out. The basic prototype characteristics are evaluated. The experiments show a very good correlation with the numerical simulations.

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Development of passive elements with variable mechanical impedance for wearable robots

Cited by 58 publications

References 3 publications

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

A Control Strategy of a Haptic Display Using Honeycomb

Adjustable Compliance Joint with Torsion Spring for Human Centred Robots

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