Ratchet-type micro-hydraulic actuator to mimic muscle behavior | IEEE Conference Publication | IEEE Xplore

Ratchet-type micro-hydraulic actuator to mimic muscle behavior

Publisher: IEEE

Abstract:

Piezo actuators are usually found in applications where high precision, high stiffness, but small displacement are required. This makes them the actuation principle of ch...View more

Abstract:

Piezo actuators are usually found in applications where high precision, high stiffness, but small displacement are required. This makes them the actuation principle of choice for many microand nano-positioning applications. In contrast, animal and human muscles have a comparatively small stiffness, but long displacements. Their force is generated by a ratchet-type mechanism of the actin and myosin cross-bridges. In this paper, we will present a piezohydraulic “ratchet” design, using two valves to mimic the actin-myosin cross-bridges. The actuator is thus able to realize very long linear actuator displacements. The mechanism will be analyzed, and it will be shown that force-velocity and power characteristics of this type of actuator design are highly adaptable, and comparable to muscle tissue. When designing robots for human-robot collaboration, or social machines operating in close proximity to humans, this makes them inherently safe, even when control fails. Measurements from a prototype actuator are shown, demonstrating the practical feasibility of the design.
Date of Conference: 10-13 November 2013
Date Added to IEEE Xplore: 02 January 2014
Electronic ISBN:978-1-4799-0224-8
Print ISSN: 1553-572X
Publisher: IEEE
Conference Location: Vienna, Austria

References

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