Modeling and design of energy efficient variable stiffness actuators

Visser, Ludo C.; Carloni, Raffaella; Ünal, Ramazan; Stramigioli, Stefano

doi:10.1109/robot.2010.5509349

Cited by 36 publications

(45 citation statements)

References 12 publications

(13 reference statements)

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“…2(b). Various VIA designs have been proposed in literature, that differ in their range of motion and stiffness [73], [74], [75], [76]. Though the potential inherent safety of SEA and VIA comply with the prioritized risk reduction of mechanical design over control system as proposed in ISO 12100, the energy stored in the compliant element of VIA can lead to increased link speed and compromise safety as indicated in [77].…”

Section: Mechanical Design and Actuationmentioning

confidence: 99%

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

Tadele

Vries

Stramigioli

2014

IEEE Robot. Automat. Mag.

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Abstract-Different branches of technology are striving to come up with new advancements that will enhance civilization and ultimately improve the way of life. In the robotics community, a stride has been made to bring the use of personal robots in office and home environments on the horizon. Safety is one of the critical issues that must be guaranteed for successful acceptance, deployment and utilization of domestic robots. Unlike the barrier based operational safety guarantee that is widely used in industrial robotics, safety in domestic robotics deals with a number of issues such as intrinsic safety, collision avoidance, human detection and advanced control techniques. In the last decade, a number of researchers have presented their works that highlighted the issue of safety in a specific part of the complete domestic robotics system. This paper presents a general survey of various safety related publications that focus on safety criteria & metrics, mechanical design & actuation and controller design.

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Section: Mechanical Design and Actuationmentioning

confidence: 99%

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

Tadele

Vries

Stramigioli

2014

IEEE Robot. Automat. Mag.

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“…See Figure 2.2(b). Various VIA designs have been proposed in literature, that di↵er in their range of motion and sti↵ness [199,91,192,51]. Though the potential inherent safety of SEA and VIA comply with the prioritized risk reduction of mechanical design over control system as proposed in ISO 12100, the energy stored in the compliant element of VIA can lead to increased link speed and compromise safety as indicated in [63].…”

Section: Mechanical Design and Actuationmentioning

confidence: 99%

Human-friendly robotic manipulators: safety and performance issues in controller design

Tadele¹

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“…[94]. Instead of implementing such an antagonistic drive (either with or without constitutive force relations as given in Theorem 7.1 or Theorem 7.2, see previous discussion on infinitesimal variables), one can consider using other variable compliance actuator mechanisms, generally called Variable Impedance Actuators (VIAs), see e.g.…”

Section: Recommendationmentioning

confidence: 99%

“…Instead of implementing such an antagonistic drive (either with or without constitutive force relations as given in Theorem 7.1 or Theorem 7.2, see previous discussion on infinitesimal variables), one can consider using other variable compliance actuator mechanisms, generally called Variable Impedance Actuators (VIAs), see e.g. [91,94]. Any such VIA, which has a position input and a stiffness changing input, could be used to replace the coordinate transformation plus antagonistic non-linear elements in the proposed concept.…”

Section: Recommendationmentioning

confidence: 99%

“…Parallel to this search, one should consider and compare upcoming novel results from research on variable impedance actuators (see e.g. [91,94]). These can be incorporated in the concept as well, as long as it serves the purpose of actuation the antagonistic tendons and inducing a variable compliant decoupling of the tendon and the actuator positions.…”

Section: Recommendations For Novel Robotic Finger Conceptmentioning

confidence: 99%

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On compliant underactuated robotic fingers

Wassink¹

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SummaryDriven by societal trends, such as aging, and by a desire to drive economic growth and enhance commercial competitiveness, researchers have tried to move robots from structured manufacturing tasks to unstructured professional and personal service applications.As announced in the Falcon project, an example of a possible unstructured professional service task for future robots is found in package-handling tasks in warehouses (distribution centers). The Falcon project aimed to design a new system architecture for a fully automated distribution center and to define, within this architecture, specific critical robotic components, which were then targeted to be researched. The author observed some inherent challenges in following such an application driven research approach. Chapter 2 presents the author's reflections on the tensions between top-down systems engineering approaches and the classical bottom-up approach for doing research.Rather than targeting one specific robotic service application, several general technological challenges were identified that require resolution to let robots move from structured to unstructured applications. One such general technological challenge is to develop versatile robotic end-effectors which are able to execute a diverse set of unstructured human-like service tasks, either being professional or personal tasks. Various approaches can be taken to develop these versatile end-effectors. This thesis focuses on contributing in the development of human-like dexterous robotic hands. The thesis presents a study on a novel robotic finger concept (aimed to be used in dexterous robotic hands), the control thereof and an accompanying theoretic treaty on natural pseudo-inverses.Inspired by human hand studies, Chapter 3 describes the desired functions for a dexterous robotic hand, being dexterous grasping, dexterous manipulation, free motion and interactive motion. Following a brief review of the current status of dexterous robotic hand technology, Chapter 3 formulates design considerations and a research direction for further developments and innovations in dexterous robotic hand technology. Variable mechanical compliance and underactuated actuation methods are marked as important design features to support robust, reliable, low weight, human dimensional and affordable technologies for dexterous robotic hands. Benefits of using actuation methods with variable compliance for grasping are presented separately in Chapter 4. Several simple grasp scenarios are used to show that different scenarios have different preferred compliance settings, which highlights the advantages of using variable compliance.Chapter 5 gives insights on natural space decompositions for the pseudo-inverse of physical maps in models of physical systems, such as the actuation Jacobian (also called transmission matrix) in a kinematic model of a drive-train of an underactuated robotic finger. Multiple mathematical view-points are used to explain the importance of choosing proper metrics on vector spaces, especially w...

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Modeling and design of energy efficient variable stiffness actuators

Cited by 36 publications

References 12 publications

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

Human-friendly robotic manipulators: safety and performance issues in controller design

On compliant underactuated robotic fingers

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