TY - GEN
T1 - Experimental Validation of a Variable Stiffness Joint Based on Antagonistic Principle
AU - Contreras-Calderón, María Guadalupe
AU - Sandoval, Juan
AU - Castillo-Castañeda, Eduardo
AU - Laribi, Med Amine
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - In human-robot interaction environments, flexible mechanisms have been implemented to relate force with movement to make interaction safer. Mechanism flexibility can be established through the use of variable stiffness joints which allow simultaneous change of the position and stiffness in joints. This paper presents a Variable Stiffness Joint (VSJ) based on the antagonistic principle with two springs. The proposed VSJ can provide constant or variable torque, depending on the task requirements. It includes a motor, associated with a set of gears and racks, to vary the lengths of the springs. The stiffness behavior is controlled with a position control law of the motor. This work details the joint mathematical model and its validation by simulation. For this purpose, a specific experimental setup is developed for torque measurement. The design of a new proposal VSJ is a compact version that maintains the same antagonistic configuration of springs consisting of two stages is presented.
AB - In human-robot interaction environments, flexible mechanisms have been implemented to relate force with movement to make interaction safer. Mechanism flexibility can be established through the use of variable stiffness joints which allow simultaneous change of the position and stiffness in joints. This paper presents a Variable Stiffness Joint (VSJ) based on the antagonistic principle with two springs. The proposed VSJ can provide constant or variable torque, depending on the task requirements. It includes a motor, associated with a set of gears and racks, to vary the lengths of the springs. The stiffness behavior is controlled with a position control law of the motor. This work details the joint mathematical model and its validation by simulation. For this purpose, a specific experimental setup is developed for torque measurement. The design of a new proposal VSJ is a compact version that maintains the same antagonistic configuration of springs consisting of two stages is presented.
KW - Antagonist principle
KW - Antagonistic springs
KW - Human-robot interaction
KW - Variable stiffness joint
KW - Variable torque
UR - http://www.scopus.com/inward/record.url?scp=85129321360&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-04870-8_21
DO - 10.1007/978-3-031-04870-8_21
M3 - Contribución a la conferencia
AN - SCOPUS:85129321360
SN - 9783031048692
T3 - Mechanisms and Machine Science
SP - 176
EP - 183
BT - Advances in Service and Industrial Robotics - RAAD 2022
A2 - Müller, Andreas
A2 - Brandstötter, Mathias
PB - Springer Science and Business Media B.V.
T2 - 31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022
Y2 - 8 June 2022 through 10 June 2022
ER -