Minimizing Energy Consumption through Optimal Mechanical Design and Stiffness Regulation

Amir Jafari, Nikolas Tsagarakis, Bram Vanderborght, Darwin Caldwell

Research output: Chapter in Book/Report/Conference proceedingMeeting abstract (Book)

Abstract

This paper describes the design and development of a new
actuator with adjustable stiffness which can be used in
robots physically interacting with humans, e.g. humanoids
and exoskeletons. The actuator can independently control
the equilibrium position and stiffness using two motors.
Compared to existing prototypes, an important novelty in the
proposed design is that the displacement needed to change
the stiffness is perpendicular to the forces generated by the
springs used to provide the compliance. As a result the
energy required for the stiffness adjustment is minimal. The
ability of the actuator to change its stiffness allows energy
consumption to be minimized while tracking a desired
trajectory.
Original languageEnglish
Title of host publicationHFR2009 - 2nd workshop for young researchers on human-friendly robotics, 3 December 2009, Sestri Levante, Italy
Pages1-2
Number of pages2
Publication statusPublished - 3 Dec 2009
EventFinds and Results from the Swedish Cyprus Expedition: A Gender Perspective at the Medelhavsmuseet - Stockholm, Sweden
Duration: 21 Sep 200925 Sep 2009

Conference

ConferenceFinds and Results from the Swedish Cyprus Expedition: A Gender Perspective at the Medelhavsmuseet
CountrySweden
CityStockholm
Period21/09/0925/09/09

Keywords

  • compliant actuation
  • energy efficiency

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