NDLI: Toward motor-unit-recruitment actuators for soft robotics

Content Provider	IEEE Xplore Digital Library
Author	Schultz, J. Mathijssen, G. Vanderborght, B. Bicchi, A.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Vrije Univ. Brussel, Brussels, Belgium (Vanderborght, B.) \|\| Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy (Schultz, J.; Mathijssen, G.; Bicchi, A.)
Abstract	Among the many features of muscles, their softness, (the ability to deform to accommodate uncertainty in the environment), and their ability to continue functioning despite disturbances, even partial damage, are qualities one would desire to see in robotic actuators. These properties are intimately related to the manner in which muscles work since they arise from the progressive recruitment of many motor units. This differs greatly from current robotic actuator technologies. We present an actuation platform prototype that can support experimental validation of algorithms for muscle fiber recruitment-inspired control, and where further ways to exploit discretization and redundancy in muscle-like control can be discovered. This platform, like muscles, is composed of discretely activated motor units with an integrated compliant coupling. The modular, cellular structure endows the actuator with good resilience in response to damage. It can also be repaired or modified to accommodate changing requirements in situ rather than replaced. Several performance metrics particular to muscle-like actuators are introduced and calculated for one of these units. The prototype has a blocked force of 2.51 N, a strain rate of 21.1 %, and has an input density of 5.46 $×10^{3}$ motor units per square meter. It consumes 18 W of electrical power during a full isometric contraction. The actuator unit is 41.0 $mm^{3}$ in size. The force during isometric contractions as it varies with activation is evaluated experimentally for two configurations of modules.
Starting Page	887
Ending Page	892
File Size	1543233
Page Count	6
File Format	PDF
ISBN	9781479931262
ISSN	21551774
e-ISBN	9781479931286
DOI	10.1109/BIOROB.2014.6913893
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-12
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Measurement Actuators Force Muscles Solenoids Springs Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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