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 journalArticle

    96 Citations (Scopus)

    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 languageEnglish (US)
    Pages (from-to)90-103
    Number of pages14
    JournalInternational Journal of Robotics Research
    Volume28
    Issue number1
    DOIs
    StatePublished - Jan 2009

    Fingerprint

    Mechanical Design
    Energy Consumption
    Actuator
    Actuators
    Energy utilization
    Compliance
    Series
    Prosthetics
    Power Consumption
    Stiffness
    Electric power utilization
    Robot
    Robots
    Formulation

    Keywords

    • Compliant actuators
    • Energy efficiency
    • Mechanical design

    ASJC Scopus subject areas

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

    Cite this

    Comparison of mechanical design and energy consumption of adaptable, passive-compliant actuators. / Vanderborght, Bram; Van Ham, Ronald; Lefeber, Dirk; Sugar, Thomas G.; Hollander, Kevin W.

    In: International Journal of Robotics Research, Vol. 28, No. 1, 01.2009, p. 90-103.

    Research output: Contribution to journalArticle

    Vanderborght, Bram ; Van Ham, Ronald ; Lefeber, Dirk ; Sugar, Thomas G. ; Hollander, Kevin W. / Comparison of mechanical design and energy consumption of adaptable, passive-compliant actuators. In: International Journal of Robotics Research. 2009 ; Vol. 28, No. 1. pp. 90-103.
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