An overview on principles for energy efficient robot locomotion
Despite enhancements in the development of robotic systems, the energy economy of
today's robots lags far behind that of biological systems. This is in particular critical for …
today's robots lags far behind that of biological systems. This is in particular critical for …
Do robots outperform humans in human-centered domains?
R Riener, L Rabezzana, Y Zimmermann - Frontiers in Robotics and AI, 2023 - frontiersin.org
The incessant progress of robotic technology and rationalization of human manpower
induces high expectations in society, but also resentment and even fear. In this paper, we …
induces high expectations in society, but also resentment and even fear. In this paper, we …
Design and optimisation of load-adaptive actuator with variable stiffness for compact ankle exoskeleton
To overcome the limitations of linear series elastic actuators (SEAs) with constant stiffness, a
novel load-adaptive actuator with variable stiffness is proposed for actuating ankle …
novel load-adaptive actuator with variable stiffness is proposed for actuating ankle …
Design, modeling and control of a reconfigurable variable stiffness actuator
Y Xu, K Guo, J Sun, J Li - Mechanical Systems and Signal Processing, 2021 - Elsevier
This work presents a reconfigurable variable stiffness actuator (RVSA) based on a rotational
spring mechanism (torsional spring) and a group of specially designed symmetrical S …
spring mechanism (torsional spring) and a group of specially designed symmetrical S …
A parallel-elastic actuator for a torque-controlled back-support exoskeleton
A torque-controlled back-support exoskeleton to assist manual handling is presented. Its
objective is to provide a significant portion of the forces necessary to carry out the physical …
objective is to provide a significant portion of the forces necessary to carry out the physical …
Design of parallel variable stiffness actuators
CW Mathews, DJ Braun - IEEE Transactions on Robotics, 2022 - ieeexplore.ieee.org
Direct-drive motors (DDMs) have been increasingly used for robot actuation because they
provide high-fidelity torque control, but they typically have low torque density. Gearing can …
provide high-fidelity torque control, but they typically have low torque density. Gearing can …
A novel revolute joint of variable stiffness with reconfigurability
Z Li, S Bai - Mechanism and Machine Theory, 2019 - Elsevier
In this paper, a novel revolute joint of variable stiffness with reconfigurability (JVSR) is
presented. The JVSR is designed with a compliant joint mechanism, and is able to vary …
presented. The JVSR is designed with a compliant joint mechanism, and is able to vary …
An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg
We present the development, modeling, and control of a three-degree-of-freedom
compliantly actuated leg called the eLeg, which employs both series-and parallel-elastic …
compliantly actuated leg called the eLeg, which employs both series-and parallel-elastic …
Minimizing energy consumption and peak power of series elastic actuators: A convex optimization framework for elastic element design
EAB Nieto, S Rezazadeh… - IEEE/ASME Transactions …, 2019 - ieeexplore.ieee.org
Compared to rigid actuators, series elastic actuators (SEAs) offer a potential reduction of
motor energy consumption and peak power, though these benefits are highly dependent on …
motor energy consumption and peak power, though these benefits are highly dependent on …
Distinct forms of resonant optimality within insect indirect flight motors
Insect flight motors are extraordinary natural structures that operate efficiently at high
frequencies. Structural resonance is thought to play a role in ensuring efficient motor …
frequencies. Structural resonance is thought to play a role in ensuring efficient motor …