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Development of a Robotic Arm with Adjustable Stiffness Joints

Last-modified: 2012-08-20 (Mon) 00:29:30 (1915d)
Top / Development of a Robotic Arm with Adjustable Stiffness Joints

Abstract from my paper

Two prototypes of variable stiffness joint drive module imitating a human joint structure are presented in this paper. A human joint is driven by a pair of flexor and extensor muscles that work antagonistically. The stiffness of the joint is adjusted by their co-contraction. Such a structure was given to the joint drive module so that it could achieve a variable stiffness property. The joint is driven by two wires with nonlinear springs. Thanks to the nonlinearity of the springs, the stiffness of the joint can be adjustable by quasi-co-contraction of the wires. With the first prototype, the stiffness adjustability of the joint was empirically confirmed. Regarding joint angle control, a three-layered PID control algorithm was implemented in the second prototype, and it was verified that the control algorithm worked properly.

Figures

ConceptDiagram.jpg

Fig. 1: Concept Diagram of Variable Stiffness Joint Drive Module

experimental_apparatus_1_081028_1.jpg

Fig. 2: First Prototype of Variable Stiffness Joint Drive Module

ASJDM2_1.jpg

Fig. 3: Second Prototype of Variable Stiffness Joint Drive Module

SAT.jpg

Fig. 4: Stiffness Adjustable Tendon (SAT)

Related Papers

  1. Kobayashi, J., Okumura, K., Watanabe, Y., Suzuki, N., Development of variable stiffness joint drive module and experimental results of joint angle control, Proc. of The Fifteenth International Symposium on Artificial Life and Robotics, pp. 946-949, 2010

Attach file: fileSAT.jpg 790 download [Information] fileConceptDiagram.jpg 873 download [Information] fileexperimental_apparatus_1_081028_1.jpg 762 download [Information] fileASJDM2_1.jpg 801 download [Information]