Comparison of mechanical design and energy consumption of adaptable, passive-compliant actuators

Bram Vanderborght; Ronald Van Ham; Dirk Lefeber; Thomas G. Sugar; Kevin W. Hollander

doi:10.1177/0278364908095333

Comparison of mechanical design and energy consumption of adaptable, passive-compliant actuators

Bram Vanderborght, Ronald Van Ham, Dirk Lefeber, Thomas G. Sugar, Kevin W. Hollander

Research output: Contribution to journal › Article › peer-review

128 Scopus citations

Abstract

Different, adaptable, passive-compliant actuators have been developed recently such as the antagonistic setup of two Series Elastic Actuators, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator, the Actuator with Mechanically Adjustable Series Compliance, and the Variable Stiffness Actuator. The main purpose of these designs is to reduce the energy consumption of walking/running robots and prostheses. This paper presents a design formulation to link the different mechanical designs together, and a study on the power consumption of these actuators.

Original language	English (US)
Pages (from-to)	90-103
Number of pages	14
Journal	International Journal of Robotics Research
Volume	28
Issue number	1
DOIs	https://doi.org/10.1177/0278364908095333
State	Published - Jan 2009

Keywords

Compliant actuators
Energy efficiency
Mechanical design

ASJC Scopus subject areas

Software
Modeling and Simulation
Mechanical Engineering
Electrical and Electronic Engineering
Artificial Intelligence
Applied Mathematics

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AB - Different, adaptable, passive-compliant actuators have been developed recently such as the antagonistic setup of two Series Elastic Actuators, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator, the Actuator with Mechanically Adjustable Series Compliance, and the Variable Stiffness Actuator. The main purpose of these designs is to reduce the energy consumption of walking/running robots and prostheses. This paper presents a design formulation to link the different mechanical designs together, and a study on the power consumption of these actuators.

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Comparison of mechanical design and energy consumption of adaptable, passive-compliant actuators

Abstract

Keywords

ASJC Scopus subject areas

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