MACCEPA, The mechanically adjustable compliance and controllable equilibrium position actuator: A 3DOF joint with two independent compliances
MACCEPA, The mechanically adjustable compliance and controllable equilibrium position actuator: A 3DOF joint with two independent compliances
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MACCEPA，机械可调顺应性和可控平衡位置执行器：具有两个独立顺应性的 3DOF 关节
DOI：
10.1007/s10778-007-0044-4
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发表时间：
2007
影响因子：
0.7
通讯作者：
D. Lefeber
中科院分区：
文献类型：
--
作者：
R. Ham;M. Damme;B. Verrelst;B. Vanderborght;D. Lefeber
MACCEPA是一种简单且易于构造的旋转致动器，其顺应性可以与平衡位置分开控制。提出了一种具有自适应柔度的三维自由度关节。所产生的转矩是柔度和平衡位置与实际位置之间夹角的线性函数。这使得该驱动器非常适合动态行走、人机界面和机器人康复设备
The MACCEPA is a straightforward and easy to construct rotational actuator in which the compliance can be controlled separately from the equilibrium position. A 3DOF joint with adaptable compliance is presented. The generated torque is a linear function of the compliance and of the angle between the equilibrium position and actual position. This makes this actuator perfectly suitable for dynamic walking, human-robotic interfaces, and robotic rehabilitation devices