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

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15 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 languageEnglish
Pages (from-to)467-474
Number of pages8
JournalInternational Applied Mechanics
Volume43
Publication statusPublished - 1 Apr 2007

Keywords

  • adjustable compliance
  • equilibrium position
  • actuators
  • control

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