scholarly journals A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept

Actuators ◽  
2014 ◽  
Vol 3 (2) ◽  
pp. 20-40 ◽  
Author(s):  
Maarten Weckx ◽  
Glenn Mathijssen ◽  
Idris Si Mhand Benali ◽  
Raphaël Furnemont ◽  
Ronald Van Ham ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Degree Of Freedom ◽  
Variable Stiffness Actuator ◽  
Two Degree Of Freedom

scholarly journals Design and Modeling of Parallel Two-degree-of-freedom Variable Stiffness Actuator

2020 ◽  
Vol 461 ◽  
pp. 012019
Author(s):  
Shangkui Yang ◽  
Peng Chen ◽  
Yongzhan Cao ◽  
Shuyun Zhu ◽  
Zhuang Ge ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Degree Of Freedom ◽  
Variable Stiffness Actuator ◽  
Two Degree Of Freedom

scholarly journals On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 39 ◽  
Author(s):  
Matteo Malosio ◽  
Francesco Corbetta ◽  
Francisco Ramìrez Reyes ◽  
Hermes Giberti ◽  
Giovanni Legnani ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Degree Of Freedom ◽  
Variable Stiffness Actuator ◽  
Variable Stiffness Actuators

Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The aim of this work is to introduce an original two-DoF planar variable-stiffness mechanism, characterized by an orthogonal arrangement of the actuation units to favor the isotropy. This device combines the concepts forming the basis of a one-DoF agonist-antagonist variable-stiffness mechanism and the rigid planar parallel and orthogonal kinematic one. In this paper, the kinematics and the operation principles are set out in detail, together with the analysis of the mechanism stiffness.

scholarly journals Study on the dynamics of two-degree-of-freedom system with variable stiffness magnetic isolator

2018 ◽  
Vol 20 (1) ◽  
pp. 116-126
Author(s):  
Shuyong Liu ◽  
Pan Su ◽  
Jiechang Wu ◽  
Jian Jiang
Keyword(s):  
Variable Stiffness ◽  
Degree Of Freedom ◽  
Two Degree Of Freedom

scholarly journals A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints

2021 ◽  
Vol 8 ◽  
Author(s):  
Simon Lemerle ◽  
Manuel G. Catalano ◽  
Antonio Bicchi ◽  
Giorgio Grioli
Keyword(s):  
Variable Stiffness ◽  
Degree Of Freedom ◽  
Design Parameters ◽  
Dimensional Parameter ◽  
Passive Behavior ◽  
Compliant Behavior ◽  
Wide Range ◽  
Articulated Robots ◽  
Variable Stiffness Actuators ◽  
Two Degree Of Freedom

Living beings modulate the impedance of their joints to interact proficiently, robustly, and safely with the environment. These observations inspired the design of soft articulated robots with the development of Variable Impedance and Variable Stiffness Actuators. However, designing them remains a challenging task due to their mechanical complexity, encumbrance, and weight, but also due to the different specifications that the wide range of applications requires. For instance, as prostheses or parts of humanoid systems, there is currently a need for multi-degree-of-freedom joints that have abilities similar to those of human articulations. Toward this goal, we propose a new compact and configurable design for a two-degree-of-freedom variable stiffness joint that can match the passive behavior of a human wrist and ankle. Using only three motors, this joint can control its equilibrium orientation around two perpendicular axes and its overall stiffness as a one-dimensional parameter, like the co-contraction of human muscles. The kinematic architecture builds upon a state-of-the-art rigid parallel mechanism with the addition of nonlinear elastic elements to allow the control of the stiffness. The mechanical parameters of the proposed system can be optimized to match desired passive compliant behaviors and to fit various applications (e.g., prosthetic wrists or ankles, artificial wrists, etc.). After describing the joint structure, we detail the kinetostatic analysis to derive the compliant behavior as a function of the design parameters and to prove the variable stiffness ability of the system. Besides, we provide sets of design parameters to match the passive compliance of either a human wrist or ankle. Moreover, to show the versatility of the proposed joint architecture and as guidelines for the future designer, we describe the influence of the main design parameters on the system stiffness characteristic and show the potential of the design for more complex applications.

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