NDLI: Actuator with Non Linear Elastic System (ANLES) For Controlling Joint Stiffness on Antaonistic Driving

Content Provider	IEEE Xplore Digital Library
Author	Koganezawa, K. Shimizu, Y. Inomata, H. Nakazawa, T.
Copyright Year	2004
Description	Author affiliation: Dept. of Mech. Eng., Tokai Univ., Kanagawa (Koganezawa, K.; Shimizu, Y.; Inomata, H.; Nakazawa, T.)
Abstract	This paper presents a method for regulating stiffness of artificial joint that is controlled on antagonistic manner like a human articulation. It requires a nonlinear elastic body on channels of transmitting force or torque. Authors propose a new actuator that has nonlinear elastic system, which is called ANLES. It fundamentally mimics the skeletal muscular system. This paper describes the equations for designing the elastic characteristics of ANLES and shows the assembled ANLES. Next it shows the theoretical and experimental result of its nonlinear elasticity. One joint controlled by two ANLESes is constructed experimental result of measuring stiffness of the joint is finally shown
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	51
Ending Page	55
File Size	254057
Page Count	5
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521750
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hydraulic actuators Control systems Joints Muscles Elasticity Torque Humans Mechanical engineering Equations Assembly tendn-driven joint stiffness control non-linear elasticity muscle mimicking
Content Type	Text
Resource Type	Article

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