Implementation of variable joint stiffness through antagonistic actuation using rolamite springs

English, Chad; Russell, Donald

doi:10.1016/s0094-114x(97)00103-1

Cited by 81 publications

(36 citation statements)

References 16 publications

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“…Similar to a human, who can change the stiffness of his joints by straining the agonist and the antagonist, the stiffness can be changed according to the performed task. One approach for a variable stiffness is an antagonistic system like in the natural archetype, which is successfully implemented in [4], [5], [6]. Two opposing actuators of similar size and series elastic elements drive one link by moving in the same direction and change the joint stiffness by moving in the opposite direction.…”

Section: Introductionmentioning

confidence: 99%

A new variable stiffness design: Matching requirements of the next robot generation

Wolf

Hirzinger

2008

2008 IEEE International Conference on Robotics and Automation

459

282

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Abstract-Facing new tasks, the conventional rigid design of robotic joints has come to its limits. Operating in unknown environments current robots are prone to failure when hitting unforeseen rigid obstacles. Moreover, safety constraints are a major aspect for robots interacting with humans. In order to operate safely, existing robotic systems in this field are slow and have a lack of performance. To circumvent these limitations, a new robot joint with a variable stiffness approach (VS-Joint) is presented. It combines a compact and highly integrated design with high performance actuation. The VSJoint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior. This allows an easy adaption to a big variety of tasks. A benefit of the joint is its intrinsic robustness against impacts and hard contacts, which permits faster trajectories and handling. Thus, it provides excellent attributes for the use in shoulder and elbow joints of an anthropomorphic robot arm.

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Section: Introductionmentioning

confidence: 99%

A new variable stiffness design: Matching requirements of the next robot generation

Wolf

Hirzinger

2008

2008 IEEE International Conference on Robotics and Automation

459

282

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“…Sugano et al (1992); English and Russell (1999); Stramigioli and Duindam (2001) describe efforts aimed at modulating elasticity with electric motors, and Boulet (1990) describes the modulation of viscosity with hydraulic motors. These ideas have evolved to be included in the design of robots that can interact with people, see (Bicchi et al, 2008).…”

Section: Related Approachesmentioning

confidence: 99%

Haptic interface transparency achieved through viscous coupling

Mohand-Ousaid

Millet

Régnier

et al. 2011

The International Journal of Robotics Research

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Electromagnetic drives are subjected to an inherent inertia-torque tradeoff that fundamentally limits transparency: the higher the torque, the higher the inertia. We describe a dual-stage design that is not subjected to this tradeoff and that is able to approach perfect transparency for human users. It comprises a large, proximal motor and a small, distal motor to reproduce the transients. The two stages are coupled by a viscous clutch based on eddy-currents that, without contact, accurately transforms slip velocity into torque. Such a system can, in general, be controlled to achieve a variety of objectives. Here, we show that an advanced, discrete-time, rst polynomial poleplacement controller can achieve near-perfect transparency. Experimental validation evaluated the human ability to detect small haptic details when using this drive and compared it to when using a conventional, single-motor interface.

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“…Tonietti et al (2005) introduced a variable stiffness actuator, a rather complex and large structure actuating three springs with tendons over rollers. English and Russell (1999) construct an antagonistic elbow joint using similar approaches as presented in this paper. However, in our approach the elbow actuators cannot be placed in the lower arm, since that space is needed for the hand actuators.…”

Section: The Dlr Approachmentioning

confidence: 99%

Robotics of human movements

Smagt

Grebenstein

Urbanek

et al. 2009

Journal of Physiology-Paris

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a b s t r a c tThe construction of robotic systems that can move the way humans do, with respect to agility, stability and precision, is a necessary prerequisite for the successful integration of robotic systems in human environments. We explain human-centered views on robotics, based on the three basic ingredients (1) actuation; (2) sensing; and (3) control, and formulate detailed examples thereof.

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Implementation of variable joint stiffness through antagonistic actuation using rolamite springs

Cited by 81 publications

References 16 publications

A new variable stiffness design: Matching requirements of the next robot generation

A new variable stiffness design: Matching requirements of the next robot generation

Haptic interface transparency achieved through viscous coupling

Robotics of human movements

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