Design & modeling of a novel multi-functional elastic actuator (MFEA)

Series elastic actuators (SEAs) are commonly used in rehabilitation devices and biped robots to satisfy constraints in terms of safety, impact tolerance, energy storing, and force controllability. This paper discusses the novel design of a multifunctional elastic actuator (MFEA). Our design has several modes with different compliance functionalities (linear and nonlinear force-deflection profiles) and deflection ranges and in comparison with other existing series elastic actuators has less friction, more available deflection range, more potential for compactness, and is easier to fabricate. To validate the applicability of the presented design, a prototype is constructed. The experimental results on this constructed prototype supports our mathematical claims in practice.

[1]  Nikolaos G. Tsagarakis,et al.  A compact soft actuator unit for small scale human friendly robots , 2009, 2009 IEEE International Conference on Robotics and Automation.

[2]  N. G. Tsagarakis,et al.  A Novel Intrinsically Energy Efficient Actuator With Adjustable Stiffness (AwAS) , 2013, IEEE/ASME Transactions on Mechatronics.

[3]  M. Tomizuka,et al.  Control of Rotary Series Elastic Actuator for Ideal Force-Mode Actuation in Human–Robot Interaction Applications , 2009, IEEE/ASME Transactions on Mechatronics.

[4]  Masayoshi Tomizuka,et al.  Design and torque-mode control of a cable-driven rotary series elastic actuator for subject-robot interaction , 2015, 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[5]  Mingguo Zhao,et al.  Level-ground walking for a bipedal robot with a torso via hip series elastic actuators and its gait bifurcation control , 2016, Robotics Auton. Syst..

[6]  Nevio Luigi Tagliamonte,et al.  A Novel Compact Torsional Spring for Series Elastic Actuators for Assistive Wearable Robots , 2012 .

[7]  Bram Vanderborght,et al.  MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot , 2007, Robotics Auton. Syst..

[8]  E. Guglielmelli,et al.  Design and characterization of a compact rotary Series Elastic Actuator for knee assistance during overground walking , 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[9]  Eduardo Torres-Jara,et al.  A Simple and Scalable Force Actuator , 2005 .

[10]  Chandana Paul,et al.  Morphological computation: A basis for the analysis of morphology and control requirements , 2006, Robotics Auton. Syst..

[11]  R. Pfeifer,et al.  Morphological computation for adaptive behavior and cognition , 2006 .

[12]  Bram Vanderborght,et al.  Exploiting Natural Dynamics to Reduce Energy Consumption by Controlling the Compliance of Soft Actuators , 2006, Int. J. Robotics Res..

[13]  Frans C. T. van der Helm,et al.  Design of a Rotational Hydroelastic Actuator for a Powered Exoskeleton for Upper Limb Rehabilitation , 2010, IEEE Transactions on Biomedical Engineering.

[14]  Manuel G. Catalano,et al.  Variable impedance actuators: A review , 2013, Robotics Auton. Syst..

[15]  Wilian M. dos Santos,et al.  Impedance Control of a Rotary Series Elastic Actuator for Knee Rehabilitation , 2014 .

[16]  Nikolaos G. Tsagarakis,et al.  A new variable stiffness actuator (CompAct-VSA): Design and modelling , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Nikolaos G. Tsagarakis,et al.  Antagonistic and series elastic actuators: a comparative analysis on the energy consumption , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Han-Pang Huang,et al.  Design of a new variable stiffness actuator and application for assistive exercise control , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[19]  H. van der Kooij,et al.  Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[20]  Arno H. A. Stienen,et al.  Design of an electric series elastic actuated joint for robotic gait rehabilitation training , 2010, 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.

[21]  M. Tomizuka,et al.  A Compact Rotary Series Elastic Actuator for Human Assistive Systems , 2012, IEEE/ASME Transactions on Mechatronics.

[22]  Alessandro De Luca,et al.  Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[23]  Koichi Koganezawa,et al.  Antagonistic control of multi-DOF joint by using the actuator with non-linear elasticity , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[24]  Joel E. Chestnutt,et al.  An actuator with physically variable stiffness for highly dynamic legged locomotion , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[25]  Antonio Bicchi,et al.  Fast and "soft-arm" tactics [robot arm design] , 2004, IEEE Robotics & Automation Magazine.

[26]  Matthew M. Williamson,et al.  Series elastic actuators , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[27]  Arjan van der Schaft,et al.  Morphological computation in a fast-running quadruped with elastic spine , 2015 .