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A new biarticular joint mechanism to extend stiffness ranges

Höppner, Hannes; Wiedmeyer, Wolfgang; van der Smagt, Patrick

Abstract (englisch):
We introduce a six-actuator robotic joint mechanism with biarticular coupling inspired by the human limb which neither requires pneumatic artificial muscles nor tendon coupling. The actuator can independently change monoarticular and biarticular stiffness as well as both joint positions. We model and analyse the actuator with respect to stiffness variability in comparison with an actuator without biarticular coupling. We demonstrate that the biarticular coupling considerably extends the range of stiffness with an 70-fold improvement in versatility, in particular with respect to the end-point Cartesian stiffness shape and orientation. We suggest using Cartesian stiffness isotropy as an optimisation criterion for future under-actuated versions.

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Originalveröffentlichung
DOI: 10.1109/ICRA.2014.6907349
Scopus
Zitationen: 1
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Proceedingsbeitrag
Jahr 2014
Sprache Englisch
Identifikator ISBN: 978-1-4799-3685-4
KITopen-ID: 1000097525
Erschienen in 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31 May-7 June 2014
Veranstaltung IEEE International Conference on Robotics and Automation - Workshop: Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems (ICRA 2014), Hongkong, Hongkong, 31.05.2014 – 07.06.2014
Verlag IEEE, Piscataway (NJ)
Seiten 3403–3410
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