Wang, C. orcid.org/0000-0003-0791-4238, Sheng, B., Li, Z. orcid.org/0000-0003-2583-5082 et al. (4 more authors) (2023) A Lightweight Series Elastic Actuator With Variable Stiffness: Design, Modeling, and Evaluation. IEEE/ASME Transactions on Mechatronics, 28 (6). pp. 3110-3119. ISSN 1083-4435
Abstract
This article proposes a lightweight variable stiffness actuator (LVSA) driven by a novel mechanism with four sliders on a shared crank (FS2C). The FS2C mechanism allows the LVSA to simultaneously regulate the preload of four springs using only one motor and hence achieves a wider-range continuous stiffness adaption with reduced weight. A cable transmission system is developed to remotely place motors and further reduce the influence of the LVSA on the mass distribution. A dynamics model is established to study the torque-deflection and the stiffness-deflection relations. Based on the model, a torque-stiffness controller is proposed. Experiments are carried out to validate the performance of the dynamics model, the controller, and the LVSA. The results indicate that the LVSA provides a range of stiffness from 0 to 988 Nm/rad with a weight of 0.412 kg, and the controller is accurate in adjusting the output torque and stiffness at relatively high speeds. The proposed actuator provides a solution for actuation systems that have to be lightweight with variable stiffness, such as wearable robotics and assistive exoskeletons.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Springs; Actuators; Torque; Regulation; DC motors; Mechatronics; Prototypes; Bowden cable transmission; exoskeleton; rehabilitation; series elastic actuator |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Medicine and Health (Leeds) > School of Medicine (Leeds) > Institute of Rheumatology & Musculoskeletal Medicine (LIRMM) (Leeds) > Rehabilitation Medicine (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) EP/S019219/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 22 Feb 2024 11:29 |
Last Modified: | 22 Feb 2024 11:29 |
Published Version: | https://ieeexplore.ieee.org/document/10081107 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Identification Number: | 10.1109/tmech.2023.3254813 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:209472 |