Prototype design of a novel modular two-degree-of-freedom variable stiffness actuator

Maarten Weckx; Ronald Van Ham; Heidi Cuypers; René Jiménez-Fabián; Diego Torricelli; Jose L Pons; Bram Vanderborght; Dirk Lefeber

doi:10.1109/HUMANOIDS.2014.7041334

Prototype design of a novel modular two-degree-of-freedom variable stiffness actuator

Maarten Weckx, Ronald Van Ham, Heidi Cuypers, René Jiménez-Fabián, Diego Torricelli, Jose L Pons, Bram Vanderborght, Dirk Lefeber

Physical Medicine and Rehabilitation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

In bio-inspired robotic applications, multiple-degree-of-freedom actuators are often desired. The current state of the art of variable stiffness actuators consist mostly of different concepts for single-degree-of-freedom joints. An innovative Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) concept is presented to specifically accommodate implementation in two-degree-of-freedom joints. A prototype design, based on this concept, is furthermore presented. The working principle and relevant design choices are explained, a zero-dynamic model is derived for future design iterations, and the implementation in a first prototype is discussed.

Original language	English (US)
Title of host publication	2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Publisher	IEEE Computer Society
Pages	33-38
Number of pages	6
ISBN (Electronic)	9781479971749
DOIs	https://doi.org/10.1109/HUMANOIDS.2014.7041334
State	Published - Feb 12 2015
Event	2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain Duration: Nov 18 2014 → Nov 20 2014

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
Volume	2015-February
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Country	Spain
City	Madrid
Period	11/18/14 → 11/20/14

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Hardware and Architecture
Human-Computer Interaction
Electrical and Electronic Engineering

Access to Document

10.1109/HUMANOIDS.2014.7041334

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Weckx, M., Van Ham, R., Cuypers, H., Jiménez-Fabián, R., Torricelli, D., Pons, J. L., Vanderborght, B., & Lefeber, D. (2015). Prototype design of a novel modular two-degree-of-freedom variable stiffness actuator. In 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 (pp. 33-38). [7041334] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-February). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041334

Weckx, Maarten ; Van Ham, Ronald ; Cuypers, Heidi ; Jiménez-Fabián, René ; Torricelli, Diego ; Pons, Jose L ; Vanderborght, Bram ; Lefeber, Dirk. / Prototype design of a novel modular two-degree-of-freedom variable stiffness actuator. 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014. IEEE Computer Society, 2015. pp. 33-38 (IEEE-RAS International Conference on Humanoid Robots).

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abstract = "In bio-inspired robotic applications, multiple-degree-of-freedom actuators are often desired. The current state of the art of variable stiffness actuators consist mostly of different concepts for single-degree-of-freedom joints. An innovative Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) concept is presented to specifically accommodate implementation in two-degree-of-freedom joints. A prototype design, based on this concept, is furthermore presented. The working principle and relevant design choices are explained, a zero-dynamic model is derived for future design iterations, and the implementation in a first prototype is discussed.",

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Weckx, M, Van Ham, R, Cuypers, H, Jiménez-Fabián, R, Torricelli, D, Pons, JL, Vanderborght, B & Lefeber, D 2015, Prototype design of a novel modular two-degree-of-freedom variable stiffness actuator. in 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014., 7041334, IEEE-RAS International Conference on Humanoid Robots, vol. 2015-February, IEEE Computer Society, pp. 33-38, 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 11/18/14. https://doi.org/10.1109/HUMANOIDS.2014.7041334

Prototype design of a novel modular two-degree-of-freedom variable stiffness actuator. / Weckx, Maarten; Van Ham, Ronald; Cuypers, Heidi; Jiménez-Fabián, René; Torricelli, Diego; Pons, Jose L; Vanderborght, Bram; Lefeber, Dirk.

2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014. IEEE Computer Society, 2015. p. 33-38 7041334 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-February).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - In bio-inspired robotic applications, multiple-degree-of-freedom actuators are often desired. The current state of the art of variable stiffness actuators consist mostly of different concepts for single-degree-of-freedom joints. An innovative Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) concept is presented to specifically accommodate implementation in two-degree-of-freedom joints. A prototype design, based on this concept, is furthermore presented. The working principle and relevant design choices are explained, a zero-dynamic model is derived for future design iterations, and the implementation in a first prototype is discussed.

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Weckx M, Van Ham R, Cuypers H, Jiménez-Fabián R, Torricelli D, Pons JL et al. Prototype design of a novel modular two-degree-of-freedom variable stiffness actuator. In 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014. IEEE Computer Society. 2015. p. 33-38. 7041334. (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/HUMANOIDS.2014.7041334