Stiffness Design of a Resonance-Based Planar Snake Robot With Parallel Elastic Actuators
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2797261
Abstract: This letter proposes an $N$-link snake robot with parallel elastic actuators (PEA) and a stiffness property that reduces the energy consumption during fast movement. Each PEA couples the actuator output to a spring element, enhancing… read more here.
Keywords: snake robot; parallel elastic; robot; robot parallel ... See more keywords
Design and Electromechanical Performance Evaluation of a Powered Parallel-Elastic Ankle Exoskeleton
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3185372
Abstract: The widespread adoption of powered lower-limb exoskeletons for augmenting mobility requires energy-efficient actuation to provide meaningful assistance over relevant walking durations. We designed, modeled, and validated an ankle exoskeleton design with a parallel elastic element… read more here.
Keywords: exoskeleton design; parallel elastic; ankle exoskeleton; spring ... See more keywords
Design and Analysis of a Clutched Parallel Elastic Actuator
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DOI: 10.3390/act8030067
Abstract: Various actuator topologies are discussed for the purpose of powering periodic processes and particularly walking robots. The Clutched Parallel Elastic Actuator (CPEA) is proposed to reduce the energy consumption of active exoskeletons. A nonlinear model… read more here.
Keywords: elastic actuator; clutched parallel; parallel elastic; design analysis ... See more keywords