Compliant mechanisms for robotic ankles

Thomas Sugar, Matthew Holgate

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

We have developed a compliant robotic tendon mechanism for a robotic ankle. In this paper, we analyze the differences between a stiff and compliant robotic tendon versus a stiff and compliant slider crank mechanism. The compliant, slider-crank mechanism reduces peak forces and speed required by an actuator at the ankle.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
PublisherAmerican Society of Mechanical Engineers
Volume6 A
ISBN (Print)9780791855935
DOIs
StatePublished - 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: Aug 4 2013Aug 7 2013

Other

OtherASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period8/4/138/7/13

Fingerprint

Compliant mechanisms
Compliant Mechanism
Robotics
Tendons
Actuator
Actuators

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Sugar, T., & Holgate, M. (2013). Compliant mechanisms for robotic ankles. In Proceedings of the ASME Design Engineering Technical Conference (Vol. 6 A). [V06AT07A002] American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2013-12167

Compliant mechanisms for robotic ankles. / Sugar, Thomas; Holgate, Matthew.

Proceedings of the ASME Design Engineering Technical Conference. Vol. 6 A American Society of Mechanical Engineers, 2013. V06AT07A002.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sugar, T & Holgate, M 2013, Compliant mechanisms for robotic ankles. in Proceedings of the ASME Design Engineering Technical Conference. vol. 6 A, V06AT07A002, American Society of Mechanical Engineers, ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013, Portland, OR, United States, 8/4/13. https://doi.org/10.1115/DETC2013-12167
Sugar T, Holgate M. Compliant mechanisms for robotic ankles. In Proceedings of the ASME Design Engineering Technical Conference. Vol. 6 A. American Society of Mechanical Engineers. 2013. V06AT07A002 https://doi.org/10.1115/DETC2013-12167
Sugar, Thomas ; Holgate, Matthew. / Compliant mechanisms for robotic ankles. Proceedings of the ASME Design Engineering Technical Conference. Vol. 6 A American Society of Mechanical Engineers, 2013.
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