TY - JOUR
T1 - Compliant actuation of parallel-type variable stiffness actuator based on antagonistic actuation
AU - Nam, Ki Hoon
AU - Kim, Byeong Sang
AU - Song, Jae Bok
N1 - Funding Information:
This work was supported by the Center for Autonomous Intelligent Manipulation under the Human Resources Development Program for Convergence Robot Specialists and by Basic Science Research Program through the National Research Foundation of Korea (No. 2010-0001647).
PY - 2010
Y1 - 2010
N2 - For a service robot requiring physical human-robot interaction, stable contact motion and collision safety are very important. To accomplish these functions, we propose a novel design for a parallel-type variable stiffness actuator (PVSA). The stiffness and position of a joint can be controlled simultaneously using the PVSA based on an antagonistic actuation inspired by the musculoskeletal system. The PVSA consists of a dual-cam follower mechanism, which acts like a human muscle, and a drive module with two motors. Each cam placed inside the dual cam-follower mechanism has two types of cam profile to provide a wide range of stiffness variation and collision safety. The use of the PVSA enables position and stiffness control to occur simultaneously. Furthermore, joint stiffness instantly decreases when the PVSA is subject to a high torque exceeding a pre-determined value, thereby improving collision safety. Experiments showed that the PVSA provides effective levels of variable stiffness and collision safety.
AB - For a service robot requiring physical human-robot interaction, stable contact motion and collision safety are very important. To accomplish these functions, we propose a novel design for a parallel-type variable stiffness actuator (PVSA). The stiffness and position of a joint can be controlled simultaneously using the PVSA based on an antagonistic actuation inspired by the musculoskeletal system. The PVSA consists of a dual-cam follower mechanism, which acts like a human muscle, and a drive module with two motors. Each cam placed inside the dual cam-follower mechanism has two types of cam profile to provide a wide range of stiffness variation and collision safety. The use of the PVSA enables position and stiffness control to occur simultaneously. Furthermore, joint stiffness instantly decreases when the PVSA is subject to a high torque exceeding a pre-determined value, thereby improving collision safety. Experiments showed that the PVSA provides effective levels of variable stiffness and collision safety.
KW - Antagonistic actuation
KW - Collision safety
KW - Dual cam-follower mechanism
KW - Variable stiffness
UR - http://www.scopus.com/inward/record.url?scp=78650333699&partnerID=8YFLogxK
U2 - 10.1007/s12206-010-0813-6
DO - 10.1007/s12206-010-0813-6
M3 - Article
AN - SCOPUS:78650333699
VL - 24
SP - 2315
EP - 2321
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
SN - 1738-494X
IS - 11
ER -