Advertisement

Artificial Life and Robotics

, Volume 15, Issue 1, pp 72–76 | Cite as

Development of a variable stiffness joint drive module and experimental results of joint angle control

  • Jun KobayashiEmail author
  • Katsuhiro Okumura
  • Yasuhiro Watanabe
  • Noriyoshi Suzuki
Original Article

Abstract

Two prototypes of variable stiffness joint drive modules imitating a human joint structure are presented. A human joint is driven by a pair of flexor and extensor muscles that work antagonistically. The stiffness of the joint is adjusted by their co-contraction. Such a structure was given to the joint drive module so that it could achieve a variable stiffness property. The joint is driven by two wires with nonlinear springs. Thanks to the nonlinearity of the springs, the stiffness of the joint can be adjusted by quasi-co-contraction of the wires. With the first prototype, the stiffness adjustability of the joint was empirically confirmed. Regarding joint angle control, a three-layered proportional integral derivative (PID) control algorithm was implemented in the second prototype, and it was verified that the control algorithm worked properly.

Key words

Variable stiffness Antagonistic wire-driven mechanism Joint angle control 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Pratt GA, Williamson MM (1995) Series elastic actuators. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 399–406Google Scholar
  2. 2.
    Bigge B, Harvey IR (2007) Programmable spring: developing actuators with programmable compliance for autonomous robots. Robotics Auton Syst 55(9):728–734CrossRefGoogle Scholar
  3. 3.
    Shirai T, Tanaka N, Tomioka T (2003) Mechanism and characteristic of non-linear spring SAT (in Japanese). Proceedings of the 21st Annual Conference of the Robotics Society of Japan, 1C25Google Scholar
  4. 4.
    Kistemaker DA, Soest AJV, Bobbert MF (2007) A model of openloop control of equilibrium position and stiffness of the human elbow joint. Biol Cybern 96:341–350zbMATHCrossRefGoogle Scholar

Copyright information

© International Symposium on Artificial Life and Robotics (ISAROB). 2010

Authors and Affiliations

  • Jun Kobayashi
    • 1
    Email author
  • Katsuhiro Okumura
    • 2
  • Yasuhiro Watanabe
    • 2
  • Noriyoshi Suzuki
    • 3
  1. 1.Department of Systems Design and InformaticsKyushu Institute of TechnologyFukuokaJapan
  2. 2.Fukuoka Industrial Technology CenterFukuokaJapan
  3. 3.Mitsuwa, Iizuka, FukuokaJapan

Personalised recommendations