TY - GEN
T1 - Prototype design of a novel modular two-degree-of-freedom variable stiffness actuator
AU - Weckx, Maarten
AU - Van Ham, Ronald
AU - Cuypers, Heidi
AU - Jiménez-Fabián, René
AU - Torricelli, Diego
AU - Pons, Jose L
AU - Vanderborght, Bram
AU - Lefeber, Dirk
PY - 2015/2/12
Y1 - 2015/2/12
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84945186993&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84945186993&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2014.7041334
DO - 10.1109/HUMANOIDS.2014.7041334
M3 - Conference contribution
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 33
EP - 38
BT - 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PB - IEEE Computer Society
T2 - 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Y2 - 18 November 2014 through 20 November 2014
ER -