Hybrid Force/Position Control of a Very Flexible Parallel Robot Manipulator in Contact with an Environment

Ansarieshlaghi, Fatemeh; Eberhard, Peter

doi:10.5220/0007833400590067

Cited by 5 publications

(1 citation statement)

References 8 publications

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“…A crucial limitation is the lack of a rigid support structure that lowers the load carrying capacity of the robot [10][11][12]. The compromise solution often applied in assistive robotics connects rigid structural elements using compliant joints [13], or actuators [14].…”

Section: Introductionmentioning

confidence: 99%

Design, Construction and Validation of a Proof of Concept Flexible–Rigid Mechanism Emulating Human Leg Behavior

Jung

Cheney

et al. 2021

Applied Sciences

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In most robotics simulations, human joints (e.g., hips and knees) are assumed to be revolute joints with limited range rotations. However, this approach neglects the internal flexibility of the joint, which could present a significant drawback in some applications. We propose a tensegrity-inspired robotic manipulator that can replicate the kinematic behavior of the human leg. The design of the hip and knee resembles the musculoskeletal connections within the human body. Our implementation represents muscles, tendons and ligament connections as cables, and bones as rods. This particular design manipulates muscles to replicate a human-like gait, which demonstrates its potential for use as an anatomically correct assistive device (prosthetic, exoskeleton, etc.). Using the [EJ]OpenSim 3.0 simulation environment, we estimated the kinematics and structural integrity of the proposed flexural joint design and determined the actuation strategies for our prototype. Kinematics for the prototype include the mechanical limitations and constraints derived from the simulations. We compared the simulation, physical prototype, and human leg behaviors for various ranges of motion and demonstrated the potential for using [EJ]OpenSim 3.0 as a flexible–rigid modeling and simulation environment.

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