Actuator with Non Linear Elastic System (ANLES) For Controlling Joint Stiffness on Antaonistic Driving
Actuator with Non Linear Elastic System (ANLES) For Controlling Joint Stiffness on Antaonistic Driving
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DOI：
10.1109/robio.2004.1521750
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发表时间：
2004-08
期刊：
影响因子：
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通讯作者：
K. Koganezawa;Y. Shimizu;Hiroshi Inomata;T. Nakazawa
中科院分区：
文献类型：
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作者：
K. Koganezawa;Y. Shimizu;Hiroshi Inomata;T. Nakazawa
本文提出了一种对人工关节进行对抗性控制的方法来调节人工关节的刚度。它要求在传递力或扭矩的通道上有一个非线性弹性体。作者提出了一种具有非线性弹性系统的新型执行器，称为ANLES。它从根本上模仿了骨骼肌系统。本文介绍了ANLES弹性特性的设计公式，并给出了组合式ANLES。然后给出了其非线性弹性的理论和实验结果。构造了一个由两个单元控制的节点，并给出了节点刚度测量的实验结果
This paper presents a method for regulating stiffness of artificial joint that is controlled on antagonistic manner like a human articulation. It requires a nonlinear elastic body on channels of transmitting force or torque. Authors propose a new actuator that has nonlinear elastic system, which is called ANLES. It fundamentally mimics the skeletal muscular system. This paper describes the equations for designing the elastic characteristics of ANLES and shows the assembled ANLES. Next it shows the theoretical and experimental result of its nonlinear elasticity. One joint controlled by two ANLESes is constructed experimental result of measuring stiffness of the joint is finally shown