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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Pages33-38
Number of pages6
ISBN (Electronic)9781479971749
DOIs
StatePublished - Feb 12 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: Nov 18 2014Nov 20 2014

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-February
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
CountrySpain
CityMadrid
Period11/18/1411/20/14

ASJC Scopus subject areas

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

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