The DOHELIX-Muscle: A Novel Technical Muscle for Bionic Robots and Actuating Drive Applications

Staab, Harald; Sonnenburg, A.; Hieger, C.

doi:10.1109/coase.2007.4341812

Cited by 8 publications

(5 citation statements)

References 16 publications

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“…These muscle-like drives also include the DoHelix muscle and the Quadhelix muscle, in which only one motor per degree of freedom is required [61]. In the DoHelix muscle, developed by STAAB et al [72], a thin, highly flexible plastic fiber rope is wound onto a shaft attached to an electric motor. When the muscle contracts, the rope runs towards the shaft from two opposite directions and winds itself into a helix on the shaft.…”

Section: Results Of Ropes As Actuatorsmentioning

confidence: 99%

Assessment of the Suitability of Selected Linear Actuators for the Implementation of the Load-Adaptive Biological Principle of Redundant Motion Generation

Bartz,

Jüttner,

Halmos

et al. 2024

Biomimetics

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The load-adaptive behavior of the muscles in the human musculoskeletal system offers great potential for minimizing resource and energy requirements in many technical systems, especially in drive technology and robotics. However, the lack of knowledge about suitable technical linear actuators that can reproduce the load-adaptive behavior of biological muscles in technology is a major reason for the lack of successful implementation of this biological principle. In this paper, therefore, the different types of linear actuators are investigated. The focus is particularly on artificial muscles and rope pulls. The study is based on literature, on the one hand, and on two physical demonstrators in the form of articulated robots, on the other hand. The studies show that ropes are currently the best way to imitate the load-adaptive behavior of the biological model in technology. This is especially illustrated in the context of this paper by the discussion of different advantages and disadvantages of the technical linear actuators, where ropes, among other things, have a good mechanical and control behavior, which is very advantageous for use in an adaptive system. Finally, the next steps for future research are outlined to conclude how ropes can be used as linear actuators to transfer load-adaptive lightweight design into technical applications.

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Section: Results Of Ropes As Actuatorsmentioning

confidence: 99%

Assessment of the Suitability of Selected Linear Actuators for the Implementation of the Load-Adaptive Biological Principle of Redundant Motion Generation

Bartz,

Jüttner,

Halmos

et al. 2024

Biomimetics

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“…A more promising similar technology is that of electroactive polymers, which change shape or size due to electrical stimulation. These are flexible, highly dynamic, light, resilient to damage, and efficient in terms of power, making them very useful in bionic robots [172] and microelectromechanical systems [173]. These technologies can therefore be used in microstructures of medical microdevices.…”

Section: Smart Material-based Haptic Interfacesmentioning

confidence: 99%

Kinematic design of linkage-based haptic interfaces for medical applications: a review

et al. 2021

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A haptic interface recreates haptic feedback from virtual environments or haptic teleoperation systems that engages the user’s sense of touch. High-fidelity haptic feedback is critical to the safety and success of any interaction with human beings. Such interactions can be seen in haptic systems utilized in medical fields, such as for surgical training, robotic tele-surgery, and tele-rehabilitation, which require appropriate haptic interface design and control. In order to recreate high-fidelity soft and stiff contact experiences for the user in the intended application, different designs strike different trade-offs between the desirable characteristics of an interface, such as back-drivability, low apparent inertia and low friction for the best perception of small reflected forces, large intrinsic stiffness and force feedback capability for the best perception of large reflected forces, a large-enough workspace for exploring the remote or virtual environment, and the uniformity of haptic feedback and its adequate sensitivity over the workspace. Meeting all of the requirements simultaneously is impossible, and different application-driven compromises need to be made. This paper reviews how various kinematic designs have helped address these trade-offs in desired specifications. First, we investigate the required characteristics of linkage-based haptic interfaces and inevitable trade-offs between them. Then, we study the state of the art in the kinematic design of haptic interfaces and their advantages and limitations. In all sections, we consider the applications of the intended haptic interfaces in medical scenarios. Non-linkage-based haptic interfaces are also shortly discussed to show the broad range of haptic technologies in the area. The potentials of kinematic redundancy to address the design trade-offs are introduced. Current challenges and future directions of haptic interface designs for medical applications are shortly discussed, which is finally followed by the conclusion.

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“…This also increases the intricacy of the control architecture. Second, the current layout of the DoHelix as proposed in [3] and [4] consumes too much space, as shown in Fig. 2.…”

Section: Technical Challengesmentioning

confidence: 99%

“…The focus there was on precise positioning and high stiffness rather than on compliance [2], energy consumption and low costs. One approach to meet these new demands is the DoHelixMuscle Concept [3], [4], developed at the Fraunhofer IPA and shown in Fig. 1.…”

Section: Introductionmentioning

confidence: 99%

The QuadHelix-Drive - An improved rope actuator for robotic applications

Rost

Verl

2010

2010 IEEE International Conference on Robotics and Automation

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For the constantly growing service robotic market there is a demand for new energy-efficient and economically priced actuation-concepts. This paper describes the QuadHelix-Drive, a novel rope actuator of high power density with a simple working principle. It highlights the technical challenges, which evolved while examining the DoHelix-Muscle-Concept. A strategy to overcome these challenges and a prototypic mechanical realization of this new actuator concept are illustrated. The integration of the QuadHelix-Drive into the Fraunhofer IPA testing facility is described and at the end possible robotic application scenarios are outlined.

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The DOHELIX-Muscle: A Novel Technical Muscle for Bionic Robots and Actuating Drive Applications

Cited by 8 publications

References 16 publications

Assessment of the Suitability of Selected Linear Actuators for the Implementation of the Load-Adaptive Biological Principle of Redundant Motion Generation

Assessment of the Suitability of Selected Linear Actuators for the Implementation of the Load-Adaptive Biological Principle of Redundant Motion Generation

Kinematic design of linkage-based haptic interfaces for medical applications: a review

The QuadHelix-Drive - An improved rope actuator for robotic applications

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