Macro-Mini Linear Actuator Using Electrorheological-Fluid Brake for Impedance Modulation in Physical Human–Robot Interaction
Macro-Mini Linear Actuator Using Electrorheological-Fluid Brake for Impedance Modulation in Physical Human–Robot Interaction
复制标题
使用电流变流体制动器进行物理人机交互中的阻抗调制的宏小型线性执行器
DOI：
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发表时间：
2022
影响因子：
5.2
通讯作者：
H. Krebs
中科院分区：
文献类型：
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作者：
R. Chaichaowarat;S. Nishimura;H. Krebs
设计用于与人类进行物理交互的机器人通常具有低阻抗和低输出力的特征，但在许多情况下，需要高力。电流变（ER）流体或磁流变（MR）流体离合器的对抗设计集成到高扭矩速度源，能够为旋转用途提供一系列可实现的阻抗。这封信提出了一种替代的线性致动器的新概念，它使用旋转ER流体制动器来接合高度可反向驱动的单元到高力单元。由微型电机驱动的末端执行器连接到制动转子。由于制动器旋转允许端点和高力致动器之间的相对平移，因此可以通过施加电压控制制动器摩擦来调制机械阻抗。实验研究了多缸电流变液制动器的高转矩惯量比特性。具有内在故障安全的宏小型线性致动器可应用于需要反重力高力的主动体重支撑系统。
Robots designed to interact physically with humans are typically characterized by low impedance and low output force, but in many circumstances, high force is needed. Integrated to a high-torque velocity source, antagonistic designs of electrorheological (ER)-fluid or magnetorheological (MR)-fluid clutches enabled a range of achievable impedances for rotational uses. This letter presents an alternative novel concept of linear actuator which uses a rotary ER-fluid brake to engage the highly backdrivable unit to the high force unit. The end effector driven by a mini motor is connected to the brake rotor. Since the brake rotation allows the relative translation between the endpoint and the high-force actuator, the mechanical impedance can be modulated by controlling the brake friction through the applied voltage. The ER-fluid brake using multiple concentric cylinders for high torque-to-inertia ratio was characterized experimentally. The macro-mini linear actuator with an intrinsic failsafe can be applied for active body weight support systems requiring antigravity high force.
DOI：
10.1109/86.662623
发表时间：
1998-03-01
期刊：
IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
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作者：
Krebs, H I;Hogan, N;Volpe, B T
通讯作者：
Volpe, B T