MACCEPA, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator: A 3DOF Joint with 2 independent Compliances

Ronald Van Ham; Michael Van Damme; Bjorn Verrelst; Bram Vanderborght; Dirk Lefeber

MACCEPA, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator: A 3DOF Joint with 2 independent Compliances

Ronald Van Ham, Michael Van Damme, Bjorn Verrelst, Bram Vanderborght, Dirk Lefeber

Applied Mechanics

Research output: Contribution to journal › Article › peer-review

17 Citations (Scopus)

Abstract

The MACCEPA is a straightforward and easy to construct rotational actuator in which the compliance can be controlled separately from the equilibrium position. A 3DOF joint with adaptable compliance is presented. The generated torque is a linear function of the compliance and of the angle between the equilibrium position and actual position. This makes this actuator perfectly suitable for dynamic walking, human-robotic interfaces, and robotic rehabilitation devices

Original language	English
Pages (from-to)	467-474
Number of pages	8
Journal	International Applied Mechanics
Volume	43
Publication status	Published - 1 Apr 2007

Keywords

adjustable compliance
equilibrium position
actuators
control

Access to Document

http://www.springerlink.com/content/427843m632045357

17 Citations
1 Patent

ARTICULATED JOINT
Van Ham, R., 30 Nov 2006, Patent No. WO2006125282
Research output: Patent

Cite this

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title = "MACCEPA, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator: A 3DOF Joint with 2 independent Compliances",

abstract = "The MACCEPA is a straightforward and easy to construct rotational actuator in which the compliance can be controlled separately from the equilibrium position. A 3DOF joint with adaptable compliance is presented. The generated torque is a linear function of the compliance and of the angle between the equilibrium position and actual position. This makes this actuator perfectly suitable for dynamic walking, human-robotic interfaces, and robotic rehabilitation devices",

keywords = "adjustable compliance, equilibrium position, actuators, control",

author = "{Van Ham}, Ronald and {Van Damme}, Michael and Bjorn Verrelst and Bram Vanderborght and Dirk Lefeber",

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volume = "43",

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journal = "International Applied Mechanics",

issn = "1063-7095",

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TY - JOUR

T1 - MACCEPA, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator: A 3DOF Joint with 2 independent Compliances

AU - Van Ham, Ronald

AU - Van Damme, Michael

AU - Verrelst, Bjorn

AU - Vanderborght, Bram

AU - Lefeber, Dirk

PY - 2007/4/1

Y1 - 2007/4/1

N2 - The MACCEPA is a straightforward and easy to construct rotational actuator in which the compliance can be controlled separately from the equilibrium position. A 3DOF joint with adaptable compliance is presented. The generated torque is a linear function of the compliance and of the angle between the equilibrium position and actual position. This makes this actuator perfectly suitable for dynamic walking, human-robotic interfaces, and robotic rehabilitation devices

AB - The MACCEPA is a straightforward and easy to construct rotational actuator in which the compliance can be controlled separately from the equilibrium position. A 3DOF joint with adaptable compliance is presented. The generated torque is a linear function of the compliance and of the angle between the equilibrium position and actual position. This makes this actuator perfectly suitable for dynamic walking, human-robotic interfaces, and robotic rehabilitation devices

KW - adjustable compliance

KW - equilibrium position

KW - actuators

KW - control

M3 - Article

VL - 43

SP - 467

EP - 474

JO - International Applied Mechanics

JF - International Applied Mechanics

SN - 1063-7095

ER -

MACCEPA, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator: A 3DOF Joint with 2 independent Compliances

Abstract

Keywords

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ARTICULATED JOINT

Cite this