Stiffness control of variable stiffness joint using electromyography signals

Kajikawa, Shinya; Ito, Tasuku; Hase, Hidenosuke

doi:10.1109/icra.2013.6631281

Cited by 4 publications

(2 citation statements)

References 9 publications

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“…The diagonal element of K diag satisfies k i = k cvi if there is a VSD connected to the cable, or k i = k ci if there is no VSD connected to the cable. Substituting (17), (18) and (19) into (16), the stiffness model of the the 6-CSJM is expressed as…”

Section: The Stiffness Model Of the 6-csjmmentioning

confidence: 99%

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Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism

Yang

Chen

et al. 2019

Symmetry

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In this paper, we focus on the issues pertaining to stiffness-oriented cable tension distributionfor a symmetrical 6-cable-driven spherical joint module (6-CSJM), which can be employed to constructmodular cable-driven manipulators. Due to the redundant actuation of the 6-CSJM, three cables areemployed for position regulation by adjusting the cable lengths, and the remaining three cables areutilized for stiffness regulation by adjusting the cable tensions, i.e., the position and stiffness can beregulated simultaneously. To increase the range of stiffness regulation, a variable stiffness device(VSD) is designed, which is serially connected to the driving cable. Since the stiffness model of the6-CSJM with VSDs is very complicated, it is difficult to directly solve the cable tensions from thedesired stiffness. The stiffness-oriented cable tension distribution issue is formulated as a nonlinearconstrained optimization problem, and the Complex method is employed to obtain optimal tensiondistributions. Furthermore, to significantly improve the computation efficiency, a decision variableelimination technique is proposed to deal with the equality constraints, which reduces decision variablesfrom 6 to 3. A comprehensive simulation study is conducted to verify the effectiveness of the proposedmethod, showing that the 6-CSJM can accurately achieve the desired stiffness through cable tensionoptimization.

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Section: The Stiffness Model Of the 6-csjmmentioning

confidence: 99%

“…As the stiffness of a CDM can be regulated by adjusting the cable tensions [15], a redundantly actuated CDM has the merit of variable stiffness for safe human-robot interactions. Therefore, a CDM is a promising candidate of collaborative robots to perform various manipulation tasks in human environment [16,17].…”

Section: Introductionmentioning

confidence: 99%