Loading [MathJax]/extensions/MathMenu.js
Antagonistic control of multi-DOF joint | IEEE Conference Publication | IEEE Xplore

Antagonistic control of multi-DOF joint


Abstract:

This paper presents a mechanical system that fundamentally mimics a human musculo-skeletal system aiming for using it in anthropomorphic robots or artificial limbs for di...Show More

Abstract:

This paper presents a mechanical system that fundamentally mimics a human musculo-skeletal system aiming for using it in anthropomorphic robots or artificial limbs for disabled persons. At first, it introduces a mechanical module called ANLES (Actuator with Non-Linear Elasticity System). It can be used as a voluntary muscle since it is a linear actuator with non-linear elasticity similar to a voluntary muscle. It follows an application of the ANLES into a three DOF artificial joint arranged to use as a wrist joint of an anthropomorphic robot. At first it shows the first model controlled by four ANLESes and one extra-motor, which was under-actuated to control three joint angles and three joint stiffness. Next it shows the second model that is controlled by six ANLESes to control the angle and the stiffness of the concentrated three rotary axes.
Date of Conference: 07-12 October 2012
Date Added to IEEE Xplore: 20 December 2012
ISBN Information:

ISSN Information:

Conference Location: Vilamoura-Algarve, Portugal

References

References is not available for this document.