Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 2315-2321 |
| Number of pages | 7 |
| Journal | Journal of Mechanical Science and Technology |
| Volume | 24 |
| Issue number | 11 |
| DOIs | |
| Publication status | Published - 2010 Dec 27 |
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Keywords
- Antagonistic actuation
- Collision safety
- Dual cam-follower mechanism
- Variable stiffness
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
Cite this
Compliant actuation of parallel-type variable stiffness actuator based on antagonistic actuation. / Nam, Ki Hoon; Kim, Byeong Sang; Song, Jae-Bok.
In: Journal of Mechanical Science and Technology, Vol. 24, No. 11, 27.12.2010, p. 2315-2321.Research output: Contribution to journal › Article
}
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
PY - 2010/12/27
Y1 - 2010/12/27
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
UR - http://www.scopus.com/inward/citedby.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 -