Actuator with Non Linear Elastic System (ANLES) For Controlling Joint Stiffness on Antaonistic Driving

Author

Koganezawa, K. ; Shimizu, Y. ; Inomata, H. ; Nakazawa, T.

Author_Institution

Dept. of Mech. Eng., Tokai Univ., Kanagawa

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

51

Lastpage

55

Abstract

This paper presents a method for regulating stiffness of artificial joint that is controlled on antagonistic manner like a human articulation. It requires a nonlinear elastic body on channels of transmitting force or torque. Authors propose a new actuator that has nonlinear elastic system, which is called ANLES. It fundamentally mimics the skeletal muscular system. This paper describes the equations for designing the elastic characteristics of ANLES and shows the assembled ANLES. Next it shows the theoretical and experimental result of its nonlinear elasticity. One joint controlled by two ANLESes is constructed experimental result of measuring stiffness of the joint is finally shown

Keywords

actuators; elasticity; mechanical variables control; nonlinear systems; actuator with nonlinear elastic system; antagonistic driving; joint stiffness control; skeletal muscular system; Assembly; Control systems; Elasticity; Equations; Humans; Hydraulic actuators; Joints; Mechanical engineering; Muscles; Torque; muscle mimicking; non-linear elasticity; stiffness control; tendn-driven joint;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521750

Filename

1521750