scholarly journals SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human-Robot Applications

Actuators ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 289
Author(s):  
Vincent Ducastel ◽  
Kevin Langlois ◽  
Marco Rossini ◽  
Victor Grosu ◽  
Bram Vanderborght ◽  
...  
Keyword(s):  
Lightweight Design ◽  
Variable Stiffness ◽  
Building Blocks ◽  
Assistive Devices ◽  
Low Level ◽  
Custom Made ◽  
High Bandwidth ◽  
Compliant Actuators ◽  
Variable Stiffness Actuator ◽  
Robotic Applications

With the growing popularity of Human-Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. Therefore, the SMARCOS, a novel off-the-shelf Smart Variable Stiffness Actuator for human-centered robotic applications is proposed in this paper. This modular actuator combines compliant elements and sensors as well as low-level controller and high-bandwidth communication. The characterisation of the actuator is presented in this manuscript, followed by two use-cases wherein the benefits of such technology can be truly exploited. The actuator provides a lightweight design that can serve as the building blocks to facilitate the development of robotic applications.

Analysis and synthesis of LinWWC-VSA, a Variable Stiffness Actuator for linear motion

2017 ◽  
Vol 110 ◽  
pp. 85-99 ◽  
Author(s):  
G. Spagnuolo ◽  
M. Malosio ◽  
T. Dinon ◽  
L. Molinari Tosatti ◽  
G. Legnani
Keyword(s):  
Variable Stiffness ◽  
Linear Motion ◽  
Analysis And Synthesis ◽  
Variable Stiffness Actuator

scholarly journals Design and Analysis of a Novel Variable Stiffness Joint for Robot

2018 ◽  
Vol 249 ◽  
pp. 03005
Author(s):  
Xiang Zhang ◽  
Twan Capehart ◽  
Carl A. Moore
Keyword(s):  
High Frequency ◽  
Joint Stiffness ◽  
Variable Stiffness ◽  
Robotic Systems ◽  
Compliant Joint ◽  
Variable Transmission ◽  
Application Requirements ◽  
Base Application ◽  
Robotic Applications ◽  
Human Robotic Interaction

As people pay more attention to the safety of human-robotic interaction, the flexibility of machine joints is becoming more and more important. To address the needs of future robotic applications, many kinds of variable stiffness mechanisms have been designed by scientists. But most of the structures are complex. By studying and comparing many different mechanism designs of variable stiffness joint, we recognize the need to miniaturization and reduce weight of variable stiffness joints with high frequency operation. To address this, need a continuously Variable Compliant Joint (CVCJ) was designed. The core of the joint is based on the structure of the spherical continuously variable transmission (SCVT) which is the catalyst to change the stiffness continuously and smoothly. In this paper, we present a compact variable stiffness joint structure to meet the volume and weight requirements of the future robotic systems. We show the connection between the joint stiffness coefficient and the structure parameters by making mathematical analysis, modelling and simulation for the system to verify the ability to satisfy the base application requirements of the compliant joint.

scholarly journals Simultaneous position and stiffness control of a revolute joint using a biphasic media variable stiffness actuator

2019 ◽  
Vol 1 (2) ◽  
pp. 80-97
Author(s):  
Jesus H Lugo
Keyword(s):  
Control Method ◽  
Variable Stiffness ◽  
Industrial Processes ◽  
Revolute Joint ◽  
Additional Information ◽  
Physical Prototype ◽  
Stiffness Control ◽  
Variable Stiffness Actuator ◽  
Control Fluid ◽  
And Control

Safe interactions between humans and robots are needed in several industrial processes and service tasks. Compliance design and control of mechanisms is a way to increase safety. This article presents a compliant revolute joint mechanism using a biphasic media variable stiffness actuator. The actuator has a member configured to transmit motion that is connected to a fluidic circuit, into which a biphasic control fluid circulates. Stiffness is controlled by changing pressure of control fluid into distribution lines. A mathematical model of the actuator is presented, a model-based control method is implemented to track the desired position and stiffness, and equations relating to the dynamics of the mechanism are provided. Results from force loaded and unloaded simulations and experiments with a physical prototype are discussed. The additional information covers a detailed description of the system and its physical implementation.

A Variable Stiffness Actuator Based on Second-order Lever Mechanism and Its Manipulator Integration

2021 ◽  
Author(s):  
Zhangxing Liu ◽  
Hongzhe Jin ◽  
Hui Zhang ◽  
Yubin Liu ◽  
Yilin Long ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Second Order ◽  
Lever Mechanism ◽  
Variable Stiffness Actuator

Event Detection in Sports Video Based on Generative-Discriminative Models

2011 ◽  
pp. 143-165
Author(s):  
Guoliang Fan ◽  
Yi Ding
Keyword(s):  
Event Detection ◽  
Semantic Analysis ◽  
Building Blocks ◽  
Semantic Space ◽  
Sports Video ◽  
Low Level ◽  
Discriminative Models ◽  
Video Mining ◽  
High Level ◽  
Different Levels

Semantic event detection is an active and interesting research topic in the field of video mining. The major challenge is the semantic gap between low-level features and high-level semantics. In this chapter, we will advance a new sports video mining framework where a hybrid generative-discriminative approach is used for event detection. Specifically, we propose a three-layer semantic space by which event detection is converted into two inter-related statistical inference procedures that involve semantic analysis at different levels. The first is to infer the mid-level semantic structures from the low-level visual features via generative models, which can serve as building blocks of high-level semantic analysis. The second is to detect high-level semantics from mid-level semantic structures using discriminative models, which are of direct interests to users. In this framework we can explicitly represent and detect semantics at different levels. The use of generative and discriminative approaches in two different stages is proved to be effective and appropriate for event detection in sports video. The experimental results from a set of American football video data demonstrate that the proposed framework offers promising results compared with traditional approaches.

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
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