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.

Occupational and Environmental Hygiene

2017 ◽  
Author(s):  
John D. Meeker
Keyword(s):  
Water Contamination ◽  
Control Strategies ◽  
Environmental Contaminants ◽  
Industrial Processes ◽  
Exposure Control ◽  
Environmental Hygiene ◽  
Additional Information ◽  
Adverse Health Effects ◽  
Toxic Materials ◽  
And Control

This chapter covers occupational and environmental hygiene principles and their application. This information is vital to understanding and preventing hazardous exposures and associated adverse health effects, among workers and the general population. The chapter addresses anticipation, recognition, evaluation, and control of hazards, including toxic materials, noise, ionizing and non-ionizing radiation, air pollution, water contamination, and related topics. Illustrative examples of these topics are described, such as common industrial processes that may result in exposure to hazardous agents, important exposure pathways, strategies to characterize exposure, the hierarchy of exposure control strategies, and known sources of environmental contaminants of concern. The chapter also includes lists of resources that provide additional information on relevant topics of interest.

Design and Control of a Passive Noise Rejecting Variable Stiffness Actuator

2018 ◽  
pp. 235-262
Author(s):  
Luca Fiorio ◽  
Francesco Romano ◽  
Alberto Parmiggiani ◽  
Bastien Berret ◽  
Giorgio Metta ◽  
...  
Keyword(s):  
Variable Stiffness ◽  
Variable Stiffness Actuator ◽  
Passive Noise ◽  
And Control
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