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

Content Provider	IEEE Xplore Digital Library
Author	Cappello, L. Lachenal, X. Pirrera, A. Mattioni, F. Weaver, P.M. Masia, L.
Copyright Year	2014
Description	Author affiliation: Hengshen Carbon Fibre, Southampton, UK (Mattioni, F.) \|\| Adv. Composites Centre for Innovation & Sci., Univ. of Bristol, Bristol, UK (Lachenal, X.; Pirrera, A.; Weaver, P.M.) \|\| Robotic Res. Center, Nanyang Technol. Univ., Singapore, Singapore (Masia, L.) \|\| Robot. Brain & Cognitive Sci. Dept., Italian Inst. Technol., Genoa, Italy (Cappello, L.)
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.
Starting Page	1051
Ending Page	1056
File Size	1338098
Page Count	6
File Format	PDF
ISBN	9781479931262
ISSN	21551774
e-ISBN	9781479931286
DOI	10.1109/BIOROB.2014.6913919
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	Actuators Shape Force and Admittance Control Force Multistable Composite Material Assistive Technology Stability analysis Z-width Admittance Robots Strain Actuator
Content Type	Text
Resource Type	Article

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