Compliant Actuation for Wearable Robotics

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

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Design and control of a passive compliant actuation with positioning measurement by LED and photodiode detector for medical application

Measurement and Control ◽

10.1177/0020294021989749 ◽

2021 ◽

Vol 54 (3-4) ◽

pp. 216-230

Author(s):

Anan Suebsomran

Keyword(s):

Supervisory Control ◽

Electromagnetic Interference ◽

Medical Application ◽

Torque Control ◽

Assistive Device ◽

Joint Control ◽

Design Error ◽

Exoskeleton Robot ◽

Compliant Actuation ◽

Wearable Exoskeleton

Control of assistive exoskeleton robot recently has to be crucial of development and innovation of medical application. To support daily motions for humans, control application of assistive exoskeleton robot allows for limb movement with increased strength and endurance during patient’s wearable exoskeleton robot application. The interaction between such exoskeleton device and the human body at the connecting joint, especially the knees, is the main interest of this design formation. The assistive device requires to design and to develop into innovation design aspect. This research presents the novel design of an active compliant actuation joint in order to increasing the higher torque of actuation than conventional actuation joint. Control design of the higher torque actuation usually difficult priori to conventional torque control. This will contributed to applying the supervisory control for compliant actuation that verified by experiment method. Then the hybrid Radial Basis Function neural network (RBFNN) and PID were proposed for actuating torque control methods. Experimental results show that the design of supervisory control is get better response, and higher producing torque output than the conventional design. Error of torque control of compliant actuation is not instead of [Formula: see text] N·m for applying supervisory control, RBFNN with PID controller. Indeed, the low electromagnetic interference (EMI) positioning system using LED and photodiode detector is proposed to be usable in medical application.

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Structured H∞ framework for impedance minimization on robot arm with compliant actuation

2014 IEEE Conference on Control Applications (CCA) ◽

10.1109/cca.2014.6981508 ◽

2014 ◽

Author(s):

Neil Abroug ◽

Edouard Laroche

Keyword(s):

Robot Arm ◽

Compliant Actuation

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Application of Assistive Wearable Robotics to Alleviate Construction Workforce Shortage: Challenges and Opportunities

Computing in Civil Engineering 2017 ◽

10.1061/9780784480830.044 ◽

2017 ◽

Author(s):

Chao Wang ◽

Laura Ikuma ◽

Jan Hondzinski ◽

Marcio de Queiroz

Keyword(s):

Workforce Shortage ◽

Wearable Robotics ◽

Challenges And Opportunities

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A Systematic Design Selection Methodology for System-Optimal Compliant Actuation

Robotica ◽

10.1017/s0263574718001248 ◽

2018 ◽

Vol 37 (4) ◽

pp. 656-674 ◽

Cited By ~ 1

Author(s):

Abdullah Kamadan ◽

Gullu Kiziltas ◽

Volkan Patoglu

Keyword(s):

Knee Prosthesis ◽

Design Method ◽

Real Life ◽

Direct Consequence ◽

System Level ◽

Full Potential ◽

System Optimal ◽

Compliant Actuation ◽

Design Selection ◽

Selection Methodology

SummaryThis work presents a systematic design selection methodology that utilizes a co-design strategy for system-level optimization of compliantly actuated robots that are known for their advantages over robotic systems driven by rigid actuators. The introduced methodology facilitates a decision-making strategy that is instrumental in making selections among system-optimal robot designs actuated by various degrees of variable or fixed compliance. While the simultaneous co-design method that is utilized throughout guarantees systems performing at their full potential, a homotopy technique is used to maintain integrity via generation of a continuum of robot designs actuated with varying degrees of variable and fixed compliance. Fairness of the selection methodology is ensured via utilization of common underlying (variable) compliant actuation principle and dynamical task requirements throughout the generated system designs. The direct consequence of the developed methodology is that it allows robot designers make informed selections among a variety of systems which are guaranteed to perform at their best. Applicability of the introduced methodology has been validated using a case study for system-optimal design of an active knee prosthesis that is driven by a mechanically adjustable compliance and controllable equilibrium position actuator (MACCEPA) under a periodic/real-life dynamical task.

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