FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3137732569> ?p ?o ?g. }

• W3137732569 abstract "Living beings modulate the impedance of their joints to interact proficiently, robustly, and safely with the environment. These observations inspired the design of soft articulated robots with the development of Variable Impedance and Variable Stiffness Actuators. However, designing them remains a challenging task due to their mechanical complexity, encumbrance, and weight, but also due to the different specifications that the wide range of applications requires. For instance, as prostheses or parts of humanoid systems, there is currently a need for multi-degree-of-freedom joints that have abilities similar to those of human articulations. Toward this goal, we propose a new compact and configurable design for a two-degree-of-freedom variable stiffness joint that can match the passive behavior of a human wrist and ankle. Using only three motors, this joint can control its equilibrium orientation around two perpendicular axes and its overall stiffness as a one-dimensional parameter, like the co-contraction of human muscles. The kinematic architecture builds upon a state-of-the-art rigid parallel mechanism with the addition of nonlinear elastic elements to allow the control of the stiffness. The mechanical parameters of the proposed system can be optimized to match desired passive compliant behaviors and to fit various applications (e.g., prosthetic wrists or ankles, artificial wrists, etc.). After describing the joint structure, we detail the kinetostatic analysis to derive the compliant behavior as a function of the design parameters and to prove the variable stiffness ability of the system. Besides, we provide sets of design parameters to match the passive compliance of either a human wrist or ankle. Moreover, to show the versatility of the proposed joint architecture and as guidelines for the future designer, we describe the influence of the main design parameters on the system stiffness characteristic and show the potential of the design for more complex applications." @default.
• W3137732569 created "2021-03-29" @default.
• W3137732569 creator A5016854720 @default.
• W3137732569 creator A5056194661 @default.
• W3137732569 creator A5079017232 @default.
• W3137732569 creator A5082180334 @default.
• W3137732569 date "2021-03-12" @default.
• W3137732569 modified "2023-09-27" @default.
• W3137732569 title "A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints" @default.
• W3137732569 cites W1856925845 @default.
• W3137732569 cites W1967097329 @default.
• W3137732569 cites W1967281165 @default.
• W3137732569 cites W1979852806 @default.
• W3137732569 cites W1985233045 @default.
• W3137732569 cites W1988869584 @default.
• W3137732569 cites W1999881894 @default.
• W3137732569 cites W2006499344 @default.
• W3137732569 cites W2009943907 @default.
• W3137732569 cites W2033219431 @default.
• W3137732569 cites W2051646616 @default.
• W3137732569 cites W2062105527 @default.
• W3137732569 cites W2073136132 @default.
• W3137732569 cites W2074813376 @default.
• W3137732569 cites W2076598966 @default.
• W3137732569 cites W2080709918 @default.
• W3137732569 cites W2088743848 @default.
• W3137732569 cites W2108394619 @default.
• W3137732569 cites W2108817934 @default.
• W3137732569 cites W2113332484 @default.
• W3137732569 cites W2118637817 @default.
• W3137732569 cites W2120630110 @default.
• W3137732569 cites W2126804914 @default.
• W3137732569 cites W2133029790 @default.
• W3137732569 cites W2139086916 @default.
• W3137732569 cites W2144452746 @default.
• W3137732569 cites W2333868129 @default.
• W3137732569 cites W2406061568 @default.
• W3137732569 cites W2530942961 @default.
• W3137732569 cites W2550616614 @default.
• W3137732569 cites W2553822319 @default.
• W3137732569 cites W2737146053 @default.
• W3137732569 cites W2753594437 @default.
• W3137732569 cites W2770423878 @default.
• W3137732569 cites W2773341133 @default.
• W3137732569 cites W2790338103 @default.
• W3137732569 cites W2807926818 @default.
• W3137732569 cites W2862284547 @default.
• W3137732569 cites W2911528113 @default.
• W3137732569 cites W2944985449 @default.
• W3137732569 cites W2947790394 @default.
• W3137732569 cites W2954078008 @default.
• W3137732569 cites W2967153221 @default.
• W3137732569 cites W2980741995 @default.
• W3137732569 cites W3004271712 @default.
• W3137732569 cites W3144052239 @default.
• W3137732569 cites W4233227660 @default.
• W3137732569 doi "https://doi.org/10.3389/frobt.2021.614145" @default.
• W3137732569 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/8006398" @default.
• W3137732569 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/33791339" @default.
• W3137732569 hasPublicationYear "2021" @default.
• W3137732569 type Work @default.
• W3137732569 sameAs 3137732569 @default.
• W3137732569 citedByCount "3" @default.
• W3137732569 countsByYear W31377325692023 @default.
• W3137732569 crossrefType "journal-article" @default.
• W3137732569 hasAuthorship W3137732569A5016854720 @default.
• W3137732569 hasAuthorship W3137732569A5056194661 @default.
• W3137732569 hasAuthorship W3137732569A5079017232 @default.
• W3137732569 hasAuthorship W3137732569A5082180334 @default.
• W3137732569 hasBestOaLocation W31377325691 @default.
• W3137732569 hasConcept C121332964 @default.
• W3137732569 hasConcept C127413603 @default.
• W3137732569 hasConcept C135628077 @default.
• W3137732569 hasConcept C154945302 @default.
• W3137732569 hasConcept C172707124 @default.
• W3137732569 hasConcept C208081375 @default.
• W3137732569 hasConcept C2775924081 @default.
• W3137732569 hasConcept C2777984285 @default.
• W3137732569 hasConcept C2779372316 @default.
• W3137732569 hasConcept C39920418 @default.
• W3137732569 hasConcept C41008148 @default.
• W3137732569 hasConcept C44154836 @default.
• W3137732569 hasConcept C47446073 @default.
• W3137732569 hasConcept C62520636 @default.
• W3137732569 hasConcept C66938386 @default.
• W3137732569 hasConcept C74650414 @default.
• W3137732569 hasConcept C79772673 @default.
• W3137732569 hasConcept C90509273 @default.
• W3137732569 hasConceptScore W3137732569C121332964 @default.
• W3137732569 hasConceptScore W3137732569C127413603 @default.
• W3137732569 hasConceptScore W3137732569C135628077 @default.
• W3137732569 hasConceptScore W3137732569C154945302 @default.
• W3137732569 hasConceptScore W3137732569C172707124 @default.
• W3137732569 hasConceptScore W3137732569C208081375 @default.
• W3137732569 hasConceptScore W3137732569C2775924081 @default.
• W3137732569 hasConceptScore W3137732569C2777984285 @default.
• W3137732569 hasConceptScore W3137732569C2779372316 @default.
• W3137732569 hasConceptScore W3137732569C39920418 @default.
• W3137732569 hasConceptScore W3137732569C41008148 @default.
• W3137732569 hasConceptScore W3137732569C44154836 @default.

• next