Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons

Leonardo Cappello, Xavier Lachenal, Alberto Pirrera, Filippo Mattioni, Paul M. Weaver, Lorenzo Masia

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

8 Citations (Scopus)

Abstract

A novel actuator is presented that merges traditional electromechanical motors and multistable composite structures. Previously, it has been shown that these structures are able to arrange themselves in multiple stable configurations corresponding to local minima of their strain energy. When coupled with an electromechanical motor as proposed in this article, the resulting actuator shows significant benefits. These are in terms of safety, energy saving and control implementation using the compliance of the overall structure, the particular shape of the strain energy landscape, and the accurately predictable non-linear behavior. Hence the proposed actuator is well-suited for robotics applications. The parameters characterizing the design of the transmission are analyzed, and a physical model is developed. A case study is presented in which the performance for a particular configuration of the system is evaluated and reported. A conceptual application of the proposed actuator is discussed for assistive robotics, where new perspectives on the use of non-rigid transmission elements might become beneficial in terms of safety and energy harvesting.

Original languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society
Pages1051-1056
Number of pages6
ISBN (Print)9781479931262
Publication statusPublished - 1 Jan 2014
Event5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, United Kingdom
Duration: 12 Aug 201415 Aug 2014

Conference

Conference5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
CountryUnited Kingdom
CitySao Paulo
Period12/08/1415/08/14

Keywords

  • Actuator
  • Assistive Technology
  • Force and Admittance Control
  • Multistable Composite Material
  • Z-width

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