Safe ann with mr-based passive compliant joints and visco-elastic covering for service robot applications

Yoon, Seong‐Sik; Kang, Sungchul; Kim, S.-J.; Kim, Y.-H.; Kim, Moonkoo; Lee, C.-W.

doi:10.1109/iros.2003.1249196

Cited by 22 publications

(2 citation statements)

References 13 publications

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“…It was proposed that magneto-rheological (MR) fluid dampers and variable friction dampers be used in a complaint system in parallel with a spring that could contribute damping to the system [29,30]. Some MR fluid dampers are also used in civil, structure, and automation suspension systems [31][32][33][34][35][36].…”

Section: Introductionmentioning

confidence: 99%

Variable Damping Actuator Using an Electromagnetic Brake for Impedance Modulation in Physical Human–Robot Interaction

Ullah,

Chaichaowarat,

Wannasuphoprasit

2023

Robotics

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Compliance actuation systems are efficient and safe, drawing attention to their development. However, compliance has caused bandwidth loss, instability, and mechanical vibration in robotic systems. Variable physical damping was introduced to address these issues. This paper presents a technique for obtaining variable damping properties using an electromagnetic brake. The relationship mapping of the voltage and the braking torque is studied and applied to the variable damping concept. A new model is proposed to demonstrate the actuation system performance gained by introducing physical damping. The experimental setup comprises an electromagnetic brake and a motor with an integrated controller for speed control and torque feedback. The motor provides the motion, while the electromagnetic brake replicates the damping through a friction mechanism. The variable damping concept was evaluated experimentally using a 1-degree-of-freedom rotational system. Experimental results show that the proposed concept can generate the desired mechanical damping with a high degree of fidelity.

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Section: Introductionmentioning

confidence: 99%

Variable Damping Actuator Using an Electromagnetic Brake for Impedance Modulation in Physical Human–Robot Interaction

Ullah,

Chaichaowarat,

Wannasuphoprasit

2023

Robotics

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“…These springs incorporate torsional elasticity between a central anchor point rotated with respect to an outer rim. Some early researchers achieved this design by arranging prismatic springs tangentially around a circular frame [12], [13]. However, this approach results in a nonlinear stiffness behavior [13] and has the added complexity of several removable parts.…”

mentioning

confidence: 99%

An Energy-Dense Two-Part Torsion Spring Architecture and Design Tool

Bons,

Thomas,

Mooney

et al. 2024

IEEE/ASME Trans. Mechatron.

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Emerging wearable, assistive, and mobile robots seek to interact with the environment and/or humans in a compliant, dynamic, and adaptable way. Springs are critical to achieving this objective, but the associated increase in volume, mass, and complexity is limiting their application and impact in this rapidly developing field. This article presents a novel rotary spring architecture that is both lightweight and compact. Our two-part spring consists of radially-spaced cantilever beams that interface with an internal, gear-like camshaft. We present the concept and equations governing their mechanics and design. To facilitate broad adoption, we introduce an open-source design tool, which enables the design of custom springs in minutes instead of hours or days. We also empirically demonstrate our design with four test springs and validate the achievement of target spring rates and deflections. Finally, we present several redesigns of existing springs in the robotics literature to demonstrate the wide applicability of our spring architecture.

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