Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons

Leonardo Cappello; Xavier Lachenal; Alberto Pirrera; Filippo Mattioni; Paul M. Weaver; Lorenzo Masia

doi:10.1109/biorob.2014.6913919

Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons

Leonardo Cappello
, Xavier Lachenal
, Alberto Pirrera
, Filippo Mattioni
, Paul M. Weaver
, Lorenzo Masia

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A novel actuator is presented that merges traditional electromechanical motors and multistable composite structures. Previously, it has been shown that these structures are able to arrange themselves in multiple stable configurations corresponding to local minima of their strain energy. When coupled with an electromechanical motor as proposed in this article, the resulting actuator shows significant benefits. These are in terms of safety, energy saving and control implementation using the compliance of the overall structure, the particular shape of the strain energy landscape, and the accurately predictable non-linear behavior. Hence the proposed actuator is well-suited for robotics applications. The parameters characterizing the design of the transmission are analyzed, and a physical model is developed. A case study is presented in which the performance for a particular configuration of the system is evaluated and reported. A conceptual application of the proposed actuator is discussed for assistive robotics, where new perspectives on the use of non-rigid transmission elements might become beneficial in terms of safety and energy harvesting.

Original language	English
Title of host publication	"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Editors	Raffaella Carloni, Lorenzo Masia, Jose Maria Sabater-Navarro, Marko Ackermann, Sunil Agrawal, Arash Ajoudani, Panagiotis Artemiadis, Matteo Bianchi, Antonio Padilha Lanari Bo, Maura Casadio, Kevin Cleary, Ashish Deshpande, Domenico Formica, Matteo Fumagalli, Nicolas Garcia-Aracil, Sasha Blue Godfrey, Islam S.M. Khalil, Olivier Lambercy, Rui C. V. Loureiro, Leonardo Mattos, Victor Munoz, Hyung-Soon Park, Luis Eduardo Rodriguez Cheu, Roque Saltaren, Adriano A. G. Siqueira, Valentina Squeri, Arno H.A. Stienen, Nikolaos Tsagarakis, Herman Van der Kooij, Bram Vanderborght, Nicola Vitiello, Jose Zariffa, Loredana Zollo
Publisher	IEEE Computer Society
Pages	1051-1056
Number of pages	6
ISBN (Electronic)	9781479931262
DOIs	https://doi.org/10.1109/biorob.2014.6913919
Publication status	Published - 30 Sep 2014
Externally published	Yes
Event	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil Duration: 12 Aug 2014 → 15 Aug 2014

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)	2155-1774

Conference

Conference	5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Country/Territory	Brazil
City	Sao Paulo
Period	12/08/14 → 15/08/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Actuator
Assistive Technology
Force and Admittance Control
Multistable Composite Material
Z-width

Access to Document

10.1109/biorob.2014.6913919

Cite this

Cappello, L., Lachenal, X., Pirrera, A., Mattioni, F., Weaver, P. M., & Masia, L. (2014). Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons. In R. Carloni, L. Masia, J. M. Sabater-Navarro, M. Ackermann, S. Agrawal, A. Ajoudani, P. Artemiadis, M. Bianchi, A. P. Lanari Bo, M. Casadio, K. Cleary, A. Deshpande, D. Formica, M. Fumagalli, N. Garcia-Aracil, S. B. Godfrey, I. S. M. Khalil, O. Lambercy, R. C. V. Loureiro, L. Mattos, V. Munoz, H.-S. Park, L. E. Rodriguez Cheu, R. Saltaren, A. A. G. Siqueira, V. Squeri, A. H. A. Stienen, N. Tsagarakis, H. Van der Kooij, B. Vanderborght, N. Vitiello, J. Zariffa, ... L. Zollo (Eds.), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 1051-1056). Article 6913919 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/biorob.2014.6913919

Cappello, Leonardo ; Lachenal, Xavier ; Pirrera, Alberto et al. / Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons. "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. editor / Raffaella Carloni ; Lorenzo Masia ; Jose Maria Sabater-Navarro ; Marko Ackermann ; Sunil Agrawal ; Arash Ajoudani ; Panagiotis Artemiadis ; Matteo Bianchi ; Antonio Padilha Lanari Bo ; Maura Casadio ; Kevin Cleary ; Ashish Deshpande ; Domenico Formica ; Matteo Fumagalli ; Nicolas Garcia-Aracil ; Sasha Blue Godfrey ; Islam S.M. Khalil ; Olivier Lambercy ; Rui C. V. Loureiro ; Leonardo Mattos ; Victor Munoz ; Hyung-Soon Park ; Luis Eduardo Rodriguez Cheu ; Roque Saltaren ; Adriano A. G. Siqueira ; Valentina Squeri ; Arno H.A. Stienen ; Nikolaos Tsagarakis ; Herman Van der Kooij ; Bram Vanderborght ; Nicola Vitiello ; Jose Zariffa ; Loredana Zollo. IEEE Computer Society, 2014. pp. 1051-1056 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

@inproceedings{4a45204280bd4b3d964d37f2bca2b8f7,

title = "Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons",

abstract = "A novel actuator is presented that merges traditional electromechanical motors and multistable composite structures. Previously, it has been shown that these structures are able to arrange themselves in multiple stable configurations corresponding to local minima of their strain energy. When coupled with an electromechanical motor as proposed in this article, the resulting actuator shows significant benefits. These are in terms of safety, energy saving and control implementation using the compliance of the overall structure, the particular shape of the strain energy landscape, and the accurately predictable non-linear behavior. Hence the proposed actuator is well-suited for robotics applications. The parameters characterizing the design of the transmission are analyzed, and a physical model is developed. A case study is presented in which the performance for a particular configuration of the system is evaluated and reported. A conceptual application of the proposed actuator is discussed for assistive robotics, where new perspectives on the use of non-rigid transmission elements might become beneficial in terms of safety and energy harvesting.",

keywords = "Actuator, Assistive Technology, Force and Admittance Control, Multistable Composite Material, Z-width",

author = "Leonardo Cappello and Xavier Lachenal and Alberto Pirrera and Filippo Mattioni and Weaver, \{Paul M.\} and Lorenzo Masia",

year = "2014",

month = sep,

day = "30",

doi = "10.1109/biorob.2014.6913919",

language = "English",

series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",

publisher = "IEEE Computer Society",

pages = "1051--1056",

editor = "Raffaella Carloni and Lorenzo Masia and Sabater-Navarro, \{Jose Maria\} and Marko Ackermann and Sunil Agrawal and Arash Ajoudani and Panagiotis Artemiadis and Matteo Bianchi and \{Lanari Bo\}, \{Antonio Padilha\} and Maura Casadio and Kevin Cleary and Ashish Deshpande and Domenico Formica and Matteo Fumagalli and Nicolas Garcia-Aracil and Godfrey, \{Sasha Blue\} and Khalil, \{Islam S.M.\} and Olivier Lambercy and Loureiro, \{Rui C. V.\} and Leonardo Mattos and Victor Munoz and Hyung-Soon Park and \{Rodriguez Cheu\}, \{Luis Eduardo\} and Roque Saltaren and Siqueira, \{Adriano A. G.\} and Valentina Squeri and Stienen, \{Arno H.A.\} and Nikolaos Tsagarakis and \{Van der Kooij\}, Herman and Bram Vanderborght and Nicola Vitiello and Jose Zariffa and Loredana Zollo",

booktitle = "{"}2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014",

note = "5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 ; Conference date: 12-08-2014 Through 15-08-2014",

}

Cappello, L, Lachenal, X, Pirrera, A, Mattioni, F, Weaver, PM & Masia, L 2014, Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons. in R Carloni, L Masia, JM Sabater-Navarro, M Ackermann, S Agrawal, A Ajoudani, P Artemiadis, M Bianchi, AP Lanari Bo, M Casadio, K Cleary, A Deshpande, D Formica, M Fumagalli, N Garcia-Aracil, SB Godfrey, ISM Khalil, O Lambercy, RCV Loureiro, L Mattos, V Munoz, H-S Park, LE Rodriguez Cheu, R Saltaren, AAG Siqueira, V Squeri, AHA Stienen, N Tsagarakis, H Van der Kooij, B Vanderborght, N Vitiello, J Zariffa & L Zollo (eds), "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014., 6913919, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, pp. 1051-1056, 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 12/08/14. https://doi.org/10.1109/biorob.2014.6913919

Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons. / Cappello, Leonardo; Lachenal, Xavier; Pirrera, Alberto et al.
"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. ed. / Raffaella Carloni; Lorenzo Masia; Jose Maria Sabater-Navarro; Marko Ackermann; Sunil Agrawal; Arash Ajoudani; Panagiotis Artemiadis; Matteo Bianchi; Antonio Padilha Lanari Bo; Maura Casadio; Kevin Cleary; Ashish Deshpande; Domenico Formica; Matteo Fumagalli; Nicolas Garcia-Aracil; Sasha Blue Godfrey; Islam S.M. Khalil; Olivier Lambercy; Rui C. V. Loureiro; Leonardo Mattos; Victor Munoz; Hyung-Soon Park; Luis Eduardo Rodriguez Cheu; Roque Saltaren; Adriano A. G. Siqueira; Valentina Squeri; Arno H.A. Stienen; Nikolaos Tsagarakis; Herman Van der Kooij; Bram Vanderborght; Nicola Vitiello; Jose Zariffa; Loredana Zollo. IEEE Computer Society, 2014. p. 1051-1056 6913919 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons

AU - Cappello, Leonardo

AU - Lachenal, Xavier

AU - Pirrera, Alberto

AU - Mattioni, Filippo

AU - Weaver, Paul M.

AU - Masia, Lorenzo

PY - 2014/9/30

Y1 - 2014/9/30

N2 - A novel actuator is presented that merges traditional electromechanical motors and multistable composite structures. Previously, it has been shown that these structures are able to arrange themselves in multiple stable configurations corresponding to local minima of their strain energy. When coupled with an electromechanical motor as proposed in this article, the resulting actuator shows significant benefits. These are in terms of safety, energy saving and control implementation using the compliance of the overall structure, the particular shape of the strain energy landscape, and the accurately predictable non-linear behavior. Hence the proposed actuator is well-suited for robotics applications. The parameters characterizing the design of the transmission are analyzed, and a physical model is developed. A case study is presented in which the performance for a particular configuration of the system is evaluated and reported. A conceptual application of the proposed actuator is discussed for assistive robotics, where new perspectives on the use of non-rigid transmission elements might become beneficial in terms of safety and energy harvesting.

AB - A novel actuator is presented that merges traditional electromechanical motors and multistable composite structures. Previously, it has been shown that these structures are able to arrange themselves in multiple stable configurations corresponding to local minima of their strain energy. When coupled with an electromechanical motor as proposed in this article, the resulting actuator shows significant benefits. These are in terms of safety, energy saving and control implementation using the compliance of the overall structure, the particular shape of the strain energy landscape, and the accurately predictable non-linear behavior. Hence the proposed actuator is well-suited for robotics applications. The parameters characterizing the design of the transmission are analyzed, and a physical model is developed. A case study is presented in which the performance for a particular configuration of the system is evaluated and reported. A conceptual application of the proposed actuator is discussed for assistive robotics, where new perspectives on the use of non-rigid transmission elements might become beneficial in terms of safety and energy harvesting.

KW - Actuator

KW - Assistive Technology

KW - Force and Admittance Control

KW - Multistable Composite Material

KW - Z-width

UR - https://www.scopus.com/pages/publications/84918591759

U2 - 10.1109/biorob.2014.6913919

DO - 10.1109/biorob.2014.6913919

M3 - Conference contribution

AN - SCOPUS:84918591759

T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

SP - 1051

EP - 1056

BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

A2 - Carloni, Raffaella

A2 - Masia, Lorenzo

A2 - Sabater-Navarro, Jose Maria

A2 - Ackermann, Marko

A2 - Agrawal, Sunil

A2 - Ajoudani, Arash

A2 - Artemiadis, Panagiotis

A2 - Bianchi, Matteo

A2 - Lanari Bo, Antonio Padilha

A2 - Casadio, Maura

A2 - Cleary, Kevin

A2 - Deshpande, Ashish

A2 - Formica, Domenico

A2 - Fumagalli, Matteo

A2 - Garcia-Aracil, Nicolas

A2 - Godfrey, Sasha Blue

A2 - Khalil, Islam S.M.

A2 - Lambercy, Olivier

A2 - Loureiro, Rui C. V.

A2 - Mattos, Leonardo

A2 - Munoz, Victor

A2 - Park, Hyung-Soon

A2 - Rodriguez Cheu, Luis Eduardo

A2 - Saltaren, Roque

A2 - Siqueira, Adriano A. G.

A2 - Squeri, Valentina

A2 - Stienen, Arno H.A.

A2 - Tsagarakis, Nikolaos

A2 - Van der Kooij, Herman

A2 - Vanderborght, Bram

A2 - Vitiello, Nicola

A2 - Zariffa, Jose

A2 - Zollo, Loredana

PB - IEEE Computer Society

T2 - 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

Y2 - 12 August 2014 through 15 August 2014

ER -

Cappello L, Lachenal X, Pirrera A, Mattioni F, Weaver PM, Masia L. Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons. In Carloni R, Masia L, Sabater-Navarro JM, Ackermann M, Agrawal S, Ajoudani A, Artemiadis P, Bianchi M, Lanari Bo AP, Casadio M, Cleary K, Deshpande A, Formica D, Fumagalli M, Garcia-Aracil N, Godfrey SB, Khalil ISM, Lambercy O, Loureiro RCV, Mattos L, Munoz V, Park HS, Rodriguez Cheu LE, Saltaren R, Siqueira AAG, Squeri V, Stienen AHA, Tsagarakis N, Van der Kooij H, Vanderborght B, Vitiello N, Zariffa J, Zollo L, editors, "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society. 2014. p. 1051-1056. 6913919. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/biorob.2014.6913919

Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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