A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL)
Adjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due to impacts, to safely interact with the user, and to store and release energy in passive elastic elements. Conceived as a new force-controlled compliant actuator...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-01-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2076-0825/7/1/1 |
| _version_ | 1828411880721350656 |
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| author | Manuel Cestari Daniel Sanz-Merodio Elena Garcia |
| author_facet | Manuel Cestari Daniel Sanz-Merodio Elena Garcia |
| author_sort | Manuel Cestari |
| collection | DOAJ |
| description | Adjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due to impacts, to safely interact with the user, and to store and release energy in passive elastic elements. Conceived as a new force-controlled compliant actuator, an adjustable rigidity with embedded sensor and locking mechanism actuator (ARES-XL) is presented in this paper. This compliant system is intended to be implemented in a gait exoskeleton for children with neuro muscular diseases (NMDs) to exploit the intrinsic dynamics during locomotion. This paper describes the mechanics and initial evaluation of the ARES-XL, a novel variable impedance actuator (VIA) that allows the implementation of an add-on locking mechanism to this system, and in combination with its zero stiffness capability and large deflection range, provides this novel joint with improved properties when compared to previous prototypes developed by the authors and other state-of-the-art (SoA) devices. The evaluation of the system proves how this design exceeds the main capabilities of a previous prototype as well as providing versatile actuation that could lead to its implementation in multiple joints. |
| first_indexed | 2024-12-10T12:37:33Z |
| format | Article |
| id | doaj.art-544661ad254d409b961b90e419b15b30 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-12-10T12:37:33Z |
| publishDate | 2018-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-544661ad254d409b961b90e419b15b302022-12-22T01:48:36ZengMDPI AGActuators2076-08252018-01-0171110.3390/act7010001act7010001A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL)Manuel Cestari0Daniel Sanz-Merodio1Elena Garcia2Centre for Automation and Robotics (CAR), UPM-CSIC, Arganda del Rey, 28500 Madrid, SpainMarsi Bionics S.L. Alcala de Henares, 28805 Madrid, SpainCentre for Automation and Robotics (CAR), UPM-CSIC, Arganda del Rey, 28500 Madrid, SpainAdjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due to impacts, to safely interact with the user, and to store and release energy in passive elastic elements. Conceived as a new force-controlled compliant actuator, an adjustable rigidity with embedded sensor and locking mechanism actuator (ARES-XL) is presented in this paper. This compliant system is intended to be implemented in a gait exoskeleton for children with neuro muscular diseases (NMDs) to exploit the intrinsic dynamics during locomotion. This paper describes the mechanics and initial evaluation of the ARES-XL, a novel variable impedance actuator (VIA) that allows the implementation of an add-on locking mechanism to this system, and in combination with its zero stiffness capability and large deflection range, provides this novel joint with improved properties when compared to previous prototypes developed by the authors and other state-of-the-art (SoA) devices. The evaluation of the system proves how this design exceeds the main capabilities of a previous prototype as well as providing versatile actuation that could lead to its implementation in multiple joints.http://www.mdpi.com/2076-0825/7/1/1variable stiffness actuatorcompliant mechanismsexoskeletonadjustable stiffnessforce sensor |
| spellingShingle | Manuel Cestari Daniel Sanz-Merodio Elena Garcia A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL) Actuators variable stiffness actuator compliant mechanisms exoskeleton adjustable stiffness force sensor |
| title | A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL) |
| title_full | A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL) |
| title_fullStr | A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL) |
| title_full_unstemmed | A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL) |
| title_short | A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL) |
| title_sort | new and versatile adjustable rigidity actuator with add on locking mechanism ares xl |
| topic | variable stiffness actuator compliant mechanisms exoskeleton adjustable stiffness force sensor |
| url | http://www.mdpi.com/2076-0825/7/1/1 |
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