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ARES, a variable stiffness actuator with embedded force sensor for the ATLAS exoskeleton

M. Cestari (Field and Service Robotics, Centre for Automation and Robotics (CAR, UPM-CSIC), Madrid, Spain)
D. Sanz-Merodio (Field and Service Robotics, Centre for Automation and Robotics (CAR, UPM-CSIC), Madrid, Spain)
J.C. Arevalo (Field and Service Robotics, Centre for Automation and Robotics (CAR, UPM-CSIC), Madrid, Spain)
E. Garcia (Field and Service Robotics, Centre for Automation and Robotics (CAR, UPM-CSIC), Madrid, Spain)

Industrial Robot

ISSN: 0143-991x

Article publication date: 20 October 2014

713

Abstract

Purpose

The purpose of this study is to present a variable stiffness actuator, one of whose main features is that the compliant elements simultaneously allow measuring of the torque exerted by the joint. Conceived as a force-controlled actuator, this actuator with Adjustable Rigidity and Embedded Sensor (ARES) is intended to be implemented in the knee of the ATLAS exoskeleton for children to allow the exploitation of the intrinsic dynamic during the locomotion cycle.

Design/methodology/approach

A set of simulations were performed to evaluate the behavior of the actuator mechanism and a prototype of the variable impedance actuator was incorporated into the exoskeleton’s knee and evaluations of the torque measurements capabilities along with the rigidity adjustments were made.

Findings

Mass and inertia of the actuator are minimized by the compact design and the utilization of the different component for more than one utility. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected.

Originality/value

In the actuator, the compliant elements simultaneously allow measuring of the torque exerted by the join. By a proper match of the compliance of the joint and the performed task, good torque measurements can be achieved and no bandwidth saturation is expected.

Keywords

Citation

Cestari, M., Sanz-Merodio, D., Arevalo, J.C. and Garcia, E. (2014), "ARES, a variable stiffness actuator with embedded force sensor for the ATLAS exoskeleton", Industrial Robot, Vol. 41 No. 6, pp. 518-526. https://doi.org/10.1108/IR-06-2014-0350

Publisher

:

Emerald Group Publishing Limited

Copyright © 2014, Emerald Group Publishing Limited

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