Tension/Compression-Only Optimal Stiffness Design with Displacement Constraint

2010 ◽  
Author(s):  
K. Cai ◽  
J. Shi ◽  
Z.Z. Wang
Keyword(s):  
Displacement Constraint ◽  
Stiffness Design ◽  
Optimal Stiffness

scholarly journals Optimal Stiffness Design for an Exhaustive Parallel Compliance Matrix in Multiactuator Robotic Limbs

2018 ◽  
Vol 10 (3) ◽  
Author(s):  
Nathan M. Cahill ◽  
Thomas Sugar ◽  
Yi Ren ◽  
Kyle Schroeder
Keyword(s):  
Energy Efficient ◽  
Peak Power ◽  
Performance Metrics ◽  
Slow Growth ◽  
Legged Robots ◽  
Power Requirement ◽  
Compliance Matrix ◽  
Performance Metric ◽  
Stiffness Design ◽  
Optimal Stiffness

Comparatively slow growth in energy density of both power storage and generation technologies has placed added emphasis on the need for energy-efficient designs in legged robots. This paper explores the potential of parallel springs in robot limb design. We start by adding what we call the exhaustive parallel compliance matrix (EPCM) to the design. The EPCM is a set of parallel springs, which includes a parallel spring for each joint and a multijoint parallel spring for all possible combinations of the robot's joints. Then, we carefully formulate and compare two performance metrics, which improve various aspects of the system performance. Each performance metric is analyzed and compared, their strengths and weaknesses being rigorously presented. The performance benefits associated with this approach are dramatic. Implementing the spring matrix reduces the sum of square power (SSP) exerted by the actuators by up to 47%, the peak power requirement by almost 40%, the sum of squared current by 55%, and the peak current by 55%. These results were generated using a planar robot limb and a gait trajectory borrowed from biology. We use a fully dynamic model of the robotic system including inertial effects. We also test the design robustness using a perturbation study, which shows that the parallel springs are effective even in the presence of trajectory perturbation.

Optimal stiffness design of sandwich plates with variable core densities

2014 ◽  
Author(s):  
Dag Lukkassen ◽  
Annette Meidell ◽  
Herman Myrvoll
Keyword(s):  
Sandwich Plates ◽  
Stiffness Design ◽  
Optimal Stiffness

scholarly journals Optimal Stiffness Design of Self-Piercing Riveting's C-Frame for Multimaterial Joining

2021 ◽  
Vol 20 (5) ◽  
pp. 76-84
Author(s):  
Chang-Yeul Shin ◽  
◽  
Jae-Jin Lee ◽  
Ji-Hun Mun ◽  
Soon-Deok Kwon ◽  
...  
Keyword(s):  
Stiffness Design ◽  
Optimal Stiffness

Burgers viscoelastic model-based variable stiffness design of compliant clamping mechanism for leafy greens harvesting

2021 ◽  
Vol 208 ◽  
pp. 1-15
Author(s):  
Liangliang Zou ◽  
Jin Yuan ◽  
Xuemei Liu ◽  
Jinguang Li ◽  
Ping Zhang ◽  
...  
Keyword(s):  
Viscoelastic Model ◽  
Variable Stiffness ◽  
Leafy Greens ◽  
Model Based ◽  
Stiffness Design

scholarly journals Reducing the metabolic energy of walking and running using an unpowered hip exoskeleton

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Tiancheng Zhou ◽  
Caihua Xiong ◽  
Juanjuan Zhang ◽  
Di Hu ◽  
Wenbin Chen ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Design Method ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Spring Stiffness ◽  
Spatiotemporal Parameters ◽  
The Common ◽  
Hip Flexion ◽  
Optimal Stiffness ◽  
Insight Into

Abstract Background Walking and running are the most common means of locomotion in human daily life. People have made advances in developing separate exoskeletons to reduce the metabolic rate of walking or running. However, the combined requirements of overcoming the fundamental biomechanical differences between the two gaits and minimizing the metabolic penalty of the exoskeleton mass make it challenging to develop an exoskeleton that can reduce the metabolic energy during both gaits. Here we show that the metabolic energy of both walking and running can be reduced by regulating the metabolic energy of hip flexion during the common energy consumption period of the two gaits using an unpowered hip exoskeleton. Methods We analyzed the metabolic rates, muscle activities and spatiotemporal parameters of 9 healthy subjects (mean ± s.t.d; 24.9 ± 3.7 years, 66.9 ± 8.7 kg, 1.76 ± 0.05 m) walking on a treadmill at a speed of 1.5 m s−1 and running at a speed of 2.5 m s−1 with different spring stiffnesses. After obtaining the optimal spring stiffness, we recruited the participants to walk and run with the assistance from a spring with optimal stiffness at different speeds to demonstrate the generality of the proposed approach. Results We found that the common optimal exoskeleton spring stiffness for walking and running was 83 Nm Rad−1, corresponding to 7.2% ± 1.2% (mean ± s.e.m, paired t-test p < 0.01) and 6.8% ± 1.0% (p < 0.01) metabolic reductions compared to walking and running without exoskeleton. The metabolic energy within the tested speed range can be reduced with the assistance except for low-speed walking (1.0 m s−1). Participants showed different changes in muscle activities with the assistance of the proposed exoskeleton. Conclusions This paper first demonstrates that the metabolic cost of walking and running can be reduced using an unpowered hip exoskeleton to regulate the metabolic energy of hip flexion. The design method based on analyzing the common energy consumption characteristics between gaits may inspire future exoskeletons that assist multiple gaits. The results of different changes in muscle activities provide new insight into human response to the same assistive principle for different gaits (walking and running).

scholarly journals Individual stiffness optimization of dorsal leaf spring ankle–foot orthoses in people with calf muscle weakness is superior to standard bodyweight-based recommendations

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Niels F. J. Waterval ◽  
Merel-Anne Brehm ◽  
Jaap Harlaar ◽  
Frans Nollet
Keyword(s):  
Muscle Weakness ◽  
Energy Cost ◽  
Activity Level ◽  
Calf Muscle ◽  
Leaf Spring ◽  
Foot Orthoses ◽  
Ankle Foot Orthoses ◽  
The Individual ◽  
Optimal Stiffness ◽  
Walking Energy Cost

Abstract Background In people with calf muscle weakness, the stiffness of dorsal leaf spring ankle–foot orthoses (DLS-AFO) needs to be individualized to maximize its effect on walking. Orthotic suppliers may recommend a certain stiffness based on body weight and activity level. However, it is unknown whether these recommendations are sufficient to yield the optimal stiffness for the individual. Therefore, we assessed whether the stiffness following the supplier’s recommendation of the Carbon Ankle7 (CA7) dorsal leaf matched the experimentally optimized AFO stiffness. Methods Thirty-four persons with calf muscle weakness were included and provided a new DLS-AFO of which the stiffness could be varied by changing the CA7® (Ottobock, Duderstadt, Germany) dorsal leaf. For five different stiffness levels, including the supplier recommended stiffness, gait biomechanics, walking energy cost and speed were assessed. Based on these measures, the individual experimentally optimal AFO stiffness was selected. Results In only 8 of 34 (23%) participants, the supplier recommended stiffness matched the experimentally optimized AFO stiffness, the latter being on average 1.2 ± 1.3 Nm/degree more flexible. The DLS-AFO with an experimentally optimized stiffness resulted in a significantly lower walking energy cost (− 0.21 ± 0.26 J/kg/m, p < 0.001) and a higher speed (+ 0.02 m/s, p = 0.003). Additionally, a larger ankle range of motion (+ 1.3 ± 0.3 degrees, p < 0.001) and higher ankle power (+ 0.16 ± 0.04 W/kg, p < 0.001) were found with the experimentally optimized stiffness compared to the supplier recommended stiffness. Conclusions In people with calf muscle weakness, current supplier’s recommendations for the CA7 stiffness level result in the provision of DLS-AFOs that are too stiff and only achieve 80% of the reduction in energy cost achieved with an individual optimized stiffness. It is recommended to experimentally optimize the CA7 stiffness in people with calf muscle weakness in order to maximize treatment outcomes. Trial registration Nederlands Trial Register 5170. Registration date: May 7th 2015. http://www.trialregister.nl/trialreg/admin/rctview.asp?TC=5170.

Sign in / Sign up

Export Citation Format

Share Document