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Introduction
Publications
Publications (14)
This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and power limits that adapt the nominal behaviour of an...
This paper proposes a unified energy-based modeling and energy-aware control paradigm for robotic systems. The paradigm is inspired by the layered and distributed control system of organisms, and uses the fundamental notion of energy in a system and the energy exchange between systems during interaction. A universal framework that models actuated a...
This paper proposes a modeling method for generic compliant robotic manipulators. It is based on graph theory and the port-Hamiltonian formalism, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity enables a simple and straight-forward adaption the model when a...
This paper presents a proof of concept of a variable stiffness actuator (VSA) that uses only one (high power) input motor. In general, VSAs use two (high power) motors to be able to control both the output position and the output stiffness, which possibly results in a heavy, and bulky system. In this work, two small and light-weight clutches are us...
In the future of the aging society it becomes increasingly difficult to provide personal care to people who are in need of help due to physical impairments caused by various diseases or disorders. The number of caregivers is limited and the cost of individual personal care will increase.
Although personal care is desired, the downside is that peopl...
In this paper, a modular method of modeling
compliant robotic systems using graph theory is treated. Graph
theoretic analyses ensure a structured way of describing a
system and allow a straightforward extension to more complex
systems. The graph models of a series elastic actuator, a variable
stiffness actuator and a multi degrees of freedom compli...
In this paper, a novel variable stiffness mechanism is presented, which is capable of achieving an output stiffness with infinite range and an unlimited output motion, i.e., the mechanism output is completely decoupled from the rotor motion, in the zero stiffness configuration. The mechanism makes use of leaf springs, which are engaged at different...
In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission ratio between the internal elastic elements and th...
Assistive robotics is an increasingly popular research field, which has led to a large number of commercial and noncommercial systems aimed at assisting physically impaired or elderly users in the activities of daily living. In this article, we propose five criteria based on robotic arm usage scenarios and surveys with which assistive robotic arms...
In this paper, the vsaUT-II, a novel rotational variable stiffness actuator, is presented. As the other designs in this class of actuation systems, the vsaUT-II is characterized by the property that the output stiffness can be changed independently of the output position. It consists of two internal elastic elements and two internal actuated degree...