scholarly journals A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control (Adv. Sci. 18/2021)

2021 ◽  
Vol 8 (18) ◽  
pp. 2170118
Author(s):  
Jonas Lussi ◽  
Michael Mattmann ◽  
Semih Sevim ◽  
Fabian Grigis ◽  
Carmela De Marco ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Continuous Variable ◽  
Compliance Control

scholarly journals A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control

2021 ◽  
pp. 2101290
Author(s):  
Jonas Lussi ◽  
Michael Mattmann ◽  
Semih Sevim ◽  
Fabian Grigis ◽  
Carmela De Marco ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Continuous Variable ◽  
Compliance Control

scholarly journals Compliance Control of Slave Manipulator Using EMG Signal for Telemanipulation

2020 ◽  
Vol 10 (4) ◽  
pp. 1431
Author(s):  
Bummo Ahn ◽  
Seong Young Ko ◽  
Gi-Hun Yang
Keyword(s):  
Control Algorithm ◽  
Precision Grip ◽  
Variable Stiffness ◽  
Compliance Control ◽  
Emg Signal ◽  
Series Of Experiments ◽  
Hard Contact

Telemanipulation systems have been widely utilized in industrial, surgical, educational, and even military fields. One of the important issues is that when a robot interacts with environment or objects, it can damage the robot itself or the objects due to hard contact. To address this problem, we propose a novel compliance control of a slave robot using the electromyography (EMG) signal, which is measured by the sensors attached onto the master operator’s arm. The EMG signal is used since it is easy to process and it provides humans with an intuitive capability to perform the operational work. Furthermore, it has been proved that the EMG signal is useful in the control of the stiffness of the slave robot. This research identifies the muscle that is the best suitable to a precision-grip operation, and a series of experiments were performed. A compliance control algorithm with a variable stiffness of a slave robot is proposed, where the stiffness is changed based on the EMG signal, and it is confirmed by a series of experiments using a two-channel force/position teleoperation architecture.

126 Grasp Control Using Compliance Control with Variable Stiffness Matrix

2003 ◽  
Vol 2003 (0) ◽  
pp. _126-1_-_126-5_
Author(s):  
Nobutaka TSUJIUCHI ◽  
Takayuki KOIZUMI ◽  
Hirofumi UEYAMA ◽  
Ryuichi YOKOKAWA
Keyword(s):  
Stiffness Matrix ◽  
Variable Stiffness ◽  
Compliance Control

scholarly journals Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 116
Author(s):  
Ming Zhang ◽  
Pengfei Ma ◽  
Feng Sun ◽  
Xingwei Sun ◽  
Fangchao Xu ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Position Control ◽  
Jacobian Matrix ◽  
Control Method ◽  
Variable Stiffness ◽  
Compliance Control ◽  
Decoupling Method ◽  
Modeling And Control ◽  
And Control ◽  
Variable Stiffness Actuators

This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable stiffness actuators. Using static analysis and the Jacobian matrix, we obtained the model of the stiffness of the robot joint actuator and dynamics. Based on the hybrid dynamic model of position and stiffness, it is possible to compensate for the torque of the variable stiffness joint actuator (VSJA) to enhance position control. Finally, after describing the actuator prototype, the established compliance control method is verified using simulation and experimental analysis.

Design and analysis of a Contact-Aided Leaf Hinge (CALH) with continuous variable stiffness

2022 ◽  
Vol 169 ◽  
pp. 104653
Author(s):  
Lifang Qiu ◽  
Shenyuan Dai ◽  
Yanlin Li ◽  
Chongxiang Li
Keyword(s):  
Variable Stiffness ◽  
Continuous Variable

Design of Variable Stiffness Cylinder with Holes Under Bending for Maximum Buckling Load Using Lamination Parameters

2019 ◽  
Author(s):  
Mazen Albazzan ◽  
Brian Tatting ◽  
Ramy Harik ◽  
Zafer Gürdal ◽  
Adriana Blom-Schieber ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Buckling Load ◽  
Lamination Parameters

Controllable Compliance Joint For Human Oriented Robots

2013 ◽  
Vol 43 (1) ◽  
pp. 47-60
Author(s):  
Mihail Tsveov ◽  
Dimitar Chakarov
Keyword(s):  
Numerical Experiments ◽  
Position Control ◽  
Joint Stiffness ◽  
Joint Motion ◽  
Compliance Control ◽  
Leaf Springs ◽  
Antagonistic Actuation

Abstract In the paper, different approaches for compliance control for human oriented robots are revealed. The approaches based on the non- antagonistic and antagonistic actuation are compared. In addition, an approach is investigated in this work for the compliance and the position control in the joint by means of antagonistic actuation. It is based on the capability of the joint with torsion leaf springs to adjust its stiffness. Models of joint stiffness are presented in this paper with antagonistic and non-antagonistic influence of the spring forces on the joint motion. The stiffness and the position control possibilities are investigated and the opportunity for their decoupling as well. Some results of numerical experiments are presented in the paper too.

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