@inproceedings{a756c7b96bae4611acd6c23ece6b4625,
title = "CARAPACE: A novel composite advanced robotic actuator powering assistive compliant exoskeleton preliminary design",
abstract = "A novel actuator is introduced that combines an elastically compliant composite structure with conventional electromechanical elements. The proposed design is analogous to that used in Series Elastic Actuators, its distinctive feature being that the compliant composite part offers different stable configurations. In other words, its elastic potential presents points of local minima that correspond to robust stable positions (multistability). This potential is known a priori as a function of the structural geometry, thus providing tremendous benefits in terms of control implementation. Such knowledge enables the complexities arising from the additional degrees of freedom associated with link deformations to be overcome and uncover challenges that extends beyond those posed by standard rigidlink robot dynamics. It is thought that integrating a multistable elastic element in a robotic transmission can provide new scenarios in the field of assistive robotics, as the system may help a subject to stand or carry a load without the need for an active control effort by the actuators.",
keywords = "Assistive technology, Force and Admittance Control, Multistable composite Material, Novel Actuator",
author = "Lorenzo Masia and Leonardo Cappello and Pietro Morasso and Xavier Lachenal and Alberto Pirrera and Paul Weaver and Filippo Mattioni",
year = "2013",
month = dec,
day = "31",
doi = "10.1109/ICORR.2013.6650511",
language = "English",
isbn = "9781467360227",
series = "Proceedings of International Conference on Rehabilitation Robotics (ICORR)",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
pages = "1--8",
booktitle = "2013 IEEE International Conference on Rehabilitation Robotics (ICORR 2013)",
address = "United States",
note = "2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 ; Conference date: 24-06-2013 Through 26-06-2013",
}