Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics
Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper, the power and energy consumption of variable...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-09-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/6/4/28 |
| _version_ | 1828846032290578432 |
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| author | Philipp Beckerle Florian Stuhlenmiller Stephan Rinderknecht |
| author_facet | Philipp Beckerle Florian Stuhlenmiller Stephan Rinderknecht |
| author_sort | Philipp Beckerle |
| collection | DOAJ |
| description | Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper, the power and energy consumption of variable stiffness actuators with serial elasticity is investigated analytically and experimentally. Besides the fundamental mechanics, the influence of friction and electrical losses is discussed. A simple but effective stiffness control method is used to exploit the corresponding knowledge of natural dynamics by tuning the system to antiresonance operation. Despite nonlinear friction effects and additional electrical dynamics, the consideration of the ideal mechanical dynamics is completely sufficient for stiffness control. Simulations and experiments show that this yields a distinct reduction in power and energy consumption, which underlines the suitability of the control strategy. |
| first_indexed | 2024-12-12T21:40:00Z |
| format | Article |
| id | doaj.art-15a065e2332944b2b53ae3195a75a6de |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-12-12T21:40:00Z |
| publishDate | 2017-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-15a065e2332944b2b53ae3195a75a6de2022-12-22T00:11:04ZengMDPI AGActuators2076-08252017-09-01642810.3390/act6040028act6040028Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural DynamicsPhilipp Beckerle0Florian Stuhlenmiller1Stephan Rinderknecht2Institute for Mechatronic Systems in Mechanical Engineering, Technische Universität Darmstadt, 64287 Darmstadt, GermanyInstitute for Mechatronic Systems in Mechanical Engineering, Technische Universität Darmstadt, 64287 Darmstadt, GermanyInstitute for Mechatronic Systems in Mechanical Engineering, Technische Universität Darmstadt, 64287 Darmstadt, GermanyVariable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper, the power and energy consumption of variable stiffness actuators with serial elasticity is investigated analytically and experimentally. Besides the fundamental mechanics, the influence of friction and electrical losses is discussed. A simple but effective stiffness control method is used to exploit the corresponding knowledge of natural dynamics by tuning the system to antiresonance operation. Despite nonlinear friction effects and additional electrical dynamics, the consideration of the ideal mechanical dynamics is completely sufficient for stiffness control. Simulations and experiments show that this yields a distinct reduction in power and energy consumption, which underlines the suitability of the control strategy.https://www.mdpi.com/2076-0825/6/4/28stiffness controlenergy efficiencyseries elastic actuatorsvariable stiffness actuators |
| spellingShingle | Philipp Beckerle Florian Stuhlenmiller Stephan Rinderknecht Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics Actuators stiffness control energy efficiency series elastic actuators variable stiffness actuators |
| title | Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics |
| title_full | Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics |
| title_fullStr | Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics |
| title_full_unstemmed | Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics |
| title_short | Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics |
| title_sort | stiffness control of variable serial elastic actuators energy efficiency through exploitation of natural dynamics |
| topic | stiffness control energy efficiency series elastic actuators variable stiffness actuators |
| url | https://www.mdpi.com/2076-0825/6/4/28 |
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