MACCEPA-based Series-Parallel Elastic Actuators (SPEA) for the next generation of robotic co-workers

Glenn Mathijssen; Raphaël Furnemont; Dirk Lefeber; Bram Vanderborght

MACCEPA-based Series-Parallel Elastic Actuators (SPEA) for the next generation of robotic co-workers

Glenn Mathijssen, Raphaël Furnemont, Dirk Lefeber, Bram Vanderborght

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Robots are still outperforming humans
regarding their efficiency and dexterity. On the other
hand, however, muscles are more efficient and have a
higher power to weight ratio than electric motors. As a
consequence, among others, manipulators for human
robot interaction in industry or service applications
have a low payload to weight ratio and a low energy
efficiency. Therefore, we developed a novel actuation
concept which we name Series-Parallel Elastic Actu-
ation (SPEA). The concept enables variable recruit-
ment and locking of multiple springs in parallel. In this
paper the latestMACCEPA-based SPEA is presented
and first results are shown.

Originele taal-2	English
Titel	HFR2014 – Pontedera: 7th International Workshop on Human-Friendly Robotics,
Pagina's	1-2
Aantal pagina's	2
Status	Published - 23 okt 2014
Evenement	7th International Workshop on Human-Friendly Robotics - Pontedera, Italy Duur: 23 okt 2014 → 24 okt 2014

Conference

Conference	7th International Workshop on Human-Friendly Robotics
Land/Regio	Italy
Stad	Pontedera
Periode	23/10/14 → 24/10/14

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201405 HFR14_MathijssenAccepted author manuscript, 241 KBLicentie: Unspecified

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abstract = "Robots are still outperforming humans regarding their efficiency and dexterity. On the other hand, however, muscles are more efficient and have a higher power to weight ratio than electric motors. As a consequence, among others, manipulators for human robot interaction in industry or service applications have a low payload to weight ratio and a low energy efficiency. Therefore, we developed a novel actuation concept which we name Series-Parallel Elastic Actu- ation (SPEA). The concept enables variable recruit- ment and locking of multiple springs in parallel. In this paper the latestMACCEPA-based SPEA is presented and first results are shown.",

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T1 - MACCEPA-based Series-Parallel Elastic Actuators (SPEA) for the next generation of robotic co-workers

AU - Mathijssen, Glenn

AU - Furnemont, Raphaël

AU - Lefeber, Dirk

AU - Vanderborght, Bram

PY - 2014/10/23

Y1 - 2014/10/23

N2 - Robots are still outperforming humans regarding their efficiency and dexterity. On the other hand, however, muscles are more efficient and have a higher power to weight ratio than electric motors. As a consequence, among others, manipulators for human robot interaction in industry or service applications have a low payload to weight ratio and a low energy efficiency. Therefore, we developed a novel actuation concept which we name Series-Parallel Elastic Actu- ation (SPEA). The concept enables variable recruit- ment and locking of multiple springs in parallel. In this paper the latestMACCEPA-based SPEA is presented and first results are shown.

AB - Robots are still outperforming humans regarding their efficiency and dexterity. On the other hand, however, muscles are more efficient and have a higher power to weight ratio than electric motors. As a consequence, among others, manipulators for human robot interaction in industry or service applications have a low payload to weight ratio and a low energy efficiency. Therefore, we developed a novel actuation concept which we name Series-Parallel Elastic Actu- ation (SPEA). The concept enables variable recruit- ment and locking of multiple springs in parallel. In this paper the latestMACCEPA-based SPEA is presented and first results are shown.

KW - Compliant actuation

KW - Robotic co-workers

KW - Series-Parallel Elastic Actuation

M3 - Meeting abstract (Book)

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BT - HFR2014 – Pontedera: 7th International Workshop on Human-Friendly Robotics,

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MACCEPA-based Series-Parallel Elastic Actuators (SPEA) for the next generation of robotic co-workers

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