CARAPACE: A novel composite advanced robotic actuator powering assistive compliant exoskeleton preliminary design

Lorenzo Masia, Leonardo Cappello, Pietro Morasso, Xavier Lachenal, Alberto Pirrera, Paul Weaver, Filippo Mattioni

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

7 Citations (Scopus)
269 Downloads (Pure)

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.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Rehabilitation Robotics (ICORR 2013)
Subtitle of host publicationProceedings of a meeting held 24-26 June 2013, Seattle, Washington, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1-8
Number of pages8
ISBN (Print)9781467360227
DOIs
Publication statusPublished - 31 Dec 2013
Event2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 - Seattle, WA, United Kingdom
Duration: 24 Jun 201326 Jun 2013

Publication series

NameProceedings of International Conference on Rehabilitation Robotics (ICORR)
Publisher Institute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)1945-7898

Conference

Conference2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
CountryUnited Kingdom
CitySeattle, WA
Period24/06/1326/06/13

Keywords

  • Assistive technology
  • Force and Admittance Control
  • Multistable composite Material
  • Novel Actuator

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