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Diff of Development of a Robotic Arm with Adjustable Stiffness Joints

Top / Development of a Robotic Arm with Adjustable Stiffness Joints

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* Abstract from my paper [#a73e6a85]

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 [#wa025360]

#ref(./ConceptDiagram.jpg,80%)
Fig. 1: Concept Diagram of Variable Stiffness Joint Drive Module

#ref(./experimental_apparatus_1_081028_1.jpg,100%)
Fig. 2: First Prototype of Variable Stiffness Joint Drive Module

#ref(./ASJDM2_1.jpg,30%)
Fig. 3: Second Prototype of Variable Stiffness Joint Drive Module

#ref(./SAT.jpg,30%)
Fig. 4: Stiffness Adjustable Tendon (SAT)

* Related Papers [#g2190d98]

+ 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