TY - GEN
T1 - CARAPACE
T2 - 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
AU - Masia, Lorenzo
AU - Cappello, Leonardo
AU - Morasso, Pietro
AU - Lachenal, Xavier
AU - Pirrera, Alberto
AU - Weaver, Paul
AU - Mattioni, Filippo
PY - 2013
Y1 - 2013
N2 - A novel actuator is introduced that combines an elastically compliant composite structure with conventional electromechanical elements. The proposed design is analogous to that used in Series Elastic Actuators, its distinctive feature being that the compliant composite part offers different stable configurations. In other words, its elastic potential presents points of local minima that correspond to robust stable positions (multistability). This potential is known a priori as a function of the structural geometry, thus providing tremendous benefits in terms of control implementation. Such knowledge enables the complexities arising from the additional degrees of freedom associated with link deformations to be overcome and uncover challenges that extends beyond those posed by standard rigidlink robot dynamics. It is thought that integrating a multistable elastic element in a robotic transmission can provide new scenarios in the field of assistive robotics, as the system may help a subject to stand or carry a load without the need for an active control effort by the actuators.
AB - A novel actuator is introduced that combines an elastically compliant composite structure with conventional electromechanical elements. The proposed design is analogous to that used in Series Elastic Actuators, its distinctive feature being that the compliant composite part offers different stable configurations. In other words, its elastic potential presents points of local minima that correspond to robust stable positions (multistability). This potential is known a priori as a function of the structural geometry, thus providing tremendous benefits in terms of control implementation. Such knowledge enables the complexities arising from the additional degrees of freedom associated with link deformations to be overcome and uncover challenges that extends beyond those posed by standard rigidlink robot dynamics. It is thought that integrating a multistable elastic element in a robotic transmission can provide new scenarios in the field of assistive robotics, as the system may help a subject to stand or carry a load without the need for an active control effort by the actuators.
KW - Assistive technology
KW - Force and Admittance Control
KW - Multistable composite Material
KW - Novel Actuator
UR - http://www.scopus.com/inward/record.url?scp=84891111485&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2013.6650511
DO - 10.1109/ICORR.2013.6650511
M3 - Conference contribution
C2 - 24187326
AN - SCOPUS:84891111485
SN - 9781467360241
T3 - IEEE International Conference on Rehabilitation Robotics
SP - 6650511
BT - 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
Y2 - 24 June 2013 through 26 June 2013
ER -