Abstract
TCERA (Tunable Compliance Energy Return Actuator) is a robotic actuator inspired by properties and behavior of the human knee joint, in that it utilizes antagonistic contraction to vary torsional stiffness and joint angle. The actuator is an electrically activated artificial muscle which uses two constant air-mass pneumatic springs configured antagonistically about the knee joint. The positions of the actuator insertion points are controlled in order to change the effective torsional stiffness about the knee axis. Additionally, the rigid member to which the insertion points are attached is able to rotate in order to alter the static equilibrium of the knee system. Furthermore, the system has been simulated and an artificial neural network (ANN) has been trained to determine the control bar angle and attachment location required based on the desired angle, stiffness, and predicted torque state of the joint. Using this controller we have achieved actuator position and stiffness control both with and without load.
This material is based upon work supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0951783. Any opinion, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Raibert, M.: Adaptive Motion in Animals and Machines, Keynote Address (2008)
HondaWorldwide: ASIMO: The Honda Humanoid Robot ASIMO (2012)
Oh, J.H.: Development Outline of the Humanoid Robot: HUBO II. In: International Conference on Robotics and Automation, Keynote Address, St. Paul, MN, USA (2012)
Colbrunn, R.W., Nelson, G.M., Quinn, R.D.: Modeling of Braided Pneumatic Actuators for Robotic Control. Int. Conf. on Intelligent Robots and Systems. In: International Conference on Robots and Systems, IROS 2001, Maui, Hawaii, pp. 1964–1970 (2001)
Alexander, R.M.: Principles of animal locomotion. Princeton University Press, Princton (2003)
Loeb, G., Brown, I., Cheng, E.: A hierarchical foundation for models of sensorimotor control.. Experimental Brain Research 126, 1–18 (1999)
Jindrich, D.L., Full, R.J.: Dynamic stabilization of rapid hexapedal locomotion. J. Exp. Biol. 205, 2803–2823 (2002)
Pratt, G., Williamson, M.: Series elastic actuators. In: IEEE International Conference on Intelligent Robots and Systems, pp. 399–406 (1995)
Van Ham, R., Sugar, T.G., Vanderborght, B., Hollander, K.W., Lefeber, D.: Review of actuators with passive adjustable compliance/controllable stiffness for robotic rpplications. IEEE Robotics and Automation Magazine, 81–94 (September 2009)
Kolacinski, R.M., Quinn, R.D.: Design and mechanics of an antagonistic biomimetic actuator system. In: Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), vol. 2, pp. 1629–1634. IEEE, Leuven (1998)
Hurst, J., Rizzi, A.: Series compliance for an efficient running gait. IEEE Robotics & Automation Magazine 15(3), 42–51 (2008)
Tonietti, G., Schiavi, R., Bicchi, A.: Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction. In: International Conference on Robotics and Automation, Barcelona, Spain, pp. 1–6 (2005)
Polinkovsky, A., Bachmann, R.J.: An Ankle Foot Orthosis with Insertion Point Eccentricity Control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1603–1608. IEEE, Vilamoura (2012)
Unal, R., Carloni, R., Behrens, S.M., Hekman, E.E.G., Stramigioli, S., Koopman, H.F.J.M.: Towards a fully passive transfemoral prosthesis for normal walking. In: IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 1949–1954. IEEE, Roma (2012)
Perry, J.: Gait Analysis: Normal and Pathological Function. SLACK Inc., Thorofare (1992)
Winter, D.: The biomechanics and motor control of human gait: normal, elderly and pathological. Waterloo, 2nd edn. University of Waterloo Press (1991)
Japan, N.S.D.A.: ST-E-1321 Japanese Female Body Size. Technical report
Huston, R.: Principles of Biomechanics. Dekker Mechanical Engineering. Taylor & Francis (2008)
Nelson, G., Quinn, R.: A quasicoordinate formulation for dynamic simulations of complex multibody systems with constraints. In: Dynamics and Control of Structures in Space (1996)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Webster, V., Leibach, R., Hunt, A., Bachmann, R., Quinn, R.D. (2014). Design and Control of a Tunable Compliance Actuator. In: Duff, A., Lepora, N.F., Mura, A., Prescott, T.J., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2014. Lecture Notes in Computer Science(), vol 8608. Springer, Cham. https://doi.org/10.1007/978-3-319-09435-9_30
Download citation
DOI: https://doi.org/10.1007/978-3-319-09435-9_30
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09434-2
Online ISBN: 978-3-319-09435-9
eBook Packages: Computer ScienceComputer Science (R0)