Design of cable-driven active flexibly-constrained pairs with non-linear stiffness in multiple directions
Author:
Affiliation:
1. Hyper-Environmental Robots Laboratory (HERO Lab.), Hakusan Corporation
2. Department of Mechanical Engineering, Tokyo Institute of Technology
Publisher
Japan Society of Mechanical Engineers
Subject
General Medicine
Link
https://www.jstage.jst.go.jp/article/mej/9/5/9_22-00132/_pdf
Reference21 articles.
1. Bidgory, H. J., Ahmadabadi, M. N. and Zakerzadeh, M. R., Design and Modeling of a Compact Rotational Nonlinear Spring, Proceedings of the 2016 IEEE International Conference on Intelligent Robots and Systems (IROS 2016), (2016), pp.4356-4361.
2. Hogan, N., Impedance Control: An Approach to Manipulation: Part 1-3, Journal of Dynamic Systems, Measurement, and Control, Vol.107 (1985), pp.1-24.
3. Jafali, A. et al., A New Actuator with Adjustable Stiffness Based on a Variable Ratio Lever Mechanism, IEEE/ASME Transaction on Mechatronics, Vol. 19, No. 1 (2014), pp.55-63, 2014.
4. Kashiri, N., Caldwell, D. G. and Tsagarakis, N., A Self-adaptive Variable Impedance Actuator Based on Intrinsic Non-linear Compliance and Damping Principles, Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), (2017), pp.1248-1254.
5. Kim, B. and Deshpande, A. D., Design of Nonlinear Rotational Stiffness Using a Non-circular Pulley-spring Mechanism, Journal of Mechanisms and Robotics, Vol.6, No.4 (2014), 041109.
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