Design and control of a novel variable stiffness series elastic actuator

Name: Design and control of a novel variable stiffness series elastic actuator
Author: Sariyildiz, E., Mutlu, R., Roberts, J., Kuo, C. H., Uğurlu, Regaip Barkan

İsim	Design and control of a novel variable stiffness series elastic actuator
Yazar	Sariyildiz, E., Mutlu, R., Roberts, J., Kuo, C. H., Uğurlu, Regaip Barkan
Basım Tarihi:	2023-06
Basım Yeri	- IEEE
Konu	Compliant robotics, Physical robot-environment interaction, Safe robotics, Series elastic actuators (SEAs), Variable stiffness actuators (VSAs)
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1083-4435
Kayıt Numarası	eff497a3-0279-45a0-b765-0b5c59eb66a5
Lokasyon	Mechanical Engineering
Tarih	2023-06
Örnek Metin	This article expounds the design and control of a new variable stiffness series elastic actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimize the stiffness modulation characteristics and power density of the actuator. The proposed VSSEA possesses the following features: no limitation in the work range of output link; a wide range of stiffness modulation (∼20 N·m/rad to ∼1 KN·m/rad); low-energy-cost stiffness modulation at equilibrium and nonequilibrium positions; compact design and high torque density (∼36 N·m/kg); and high-speed stiffness modulation (∼3000 N·m/rad/s). Such features can help boost the safety and performance of many advanced robotic systems, e.g., a cobot that physically interacts with unstructured environments and an exoskeleton that provides physical assistance to human users. These features can also enable us to utilize variable stiffness property to attain various regulation and trajectory tracking control tasks only by employing conventional controllers, eliminating the need for synthesizing complex motion control systems in compliant actuation. To this end, it is experimentally demonstrated that the proposed VSSEA is capable of precisely tracking the desired position and force control references through the use of the conventional proportional-integral-derivative controllers.
DOI	10.1109/TMECH.2022.3232471
Cilt	28

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Design and control of a novel variable stiffness series elastic actuator

Yazar Sariyildiz, E., Mutlu, R., Roberts, J., Kuo, C. H., Uğurlu, Regaip Barkan

Basım Tarihi 2023-06

Basım Yeri - IEEE

Konu Compliant robotics, Physical robot-environment interaction, Safe robotics, Series elastic actuators (SEAs), Variable stiffness actuators (VSAs)

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1083-4435

Kayıt Numarası eff497a3-0279-45a0-b765-0b5c59eb66a5

Lokasyon Mechanical Engineering

Tarih 2023-06

Örnek Metin This article expounds the design and control of a new variable stiffness series elastic actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimize the stiffness modulation characteristics and power density of the actuator. The proposed VSSEA possesses the following features: no limitation in the work range of output link; a wide range of stiffness modulation (∼20 N·m/rad to ∼1 KN·m/rad); low-energy-cost stiffness modulation at equilibrium and nonequilibrium positions; compact design and high torque density (∼36 N·m/kg); and high-speed stiffness modulation (∼3000 N·m/rad/s). Such features can help boost the safety and performance of many advanced robotic systems, e.g., a cobot that physically interacts with unstructured environments and an exoskeleton that provides physical assistance to human users. These features can also enable us to utilize variable stiffness property to attain various regulation and trajectory tracking control tasks only by employing conventional controllers, eliminating the need for synthesizing complex motion control systems in compliant actuation. To this end, it is experimentally demonstrated that the proposed VSSEA is capable of precisely tracking the desired position and force control references through the use of the conventional proportional-integral-derivative controllers.

DOI 10.1109/TMECH.2022.3232471

Cilt 28