Dual-Differential Rheological Actuator for High-Performance Physical Robotic Interaction

被引：51

作者：

Fauteux, Philippe ^{[1
,2
]}

Lauria, Michel ^{[3
]}

Heintz, Benoit ^{[1
]}

Michaud, Francois ^{[1
]}

机构：

[1] Univ Sherbrooke, Dept Elect Engn & Comp Engn, Intelligent Interact Integrated & Interdisciplina, Sherbrooke, PQ J1K 2R1, Canada

[2] Univ Sherbrooke, Dept Mech Engn, Sherbrooke, PQ J1K 2R1, Canada

[3] Univ Appl Sci Western Switzerland, Haute Ecole Specialisee Suisse Occidentale, CH-1202 Geneva, Switzerland

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 04期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Actuators; force and interaction control; human-robot interaction; low-impedance actuation; soft robotics; TORQUE;

D O I：

10.1109/TRO.2010.2052880

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Today's robotic systems are mostly rigid and position-controlled machines designed to operate in structured environments. To extend their application domains to partially unknown, dynamic, or anthropic environments, improved physical-interation capabilities are required. In this new context, to blend the requirements for safety, robustness, and versatility is often a challenge, in part, because commonly available actuator technologies are inadequate. This paper presents our solution with the introduction of the dual-differential rheological actuator (DDRA) concept, which is based on the synergistic combination of an electromagnetic (EM) motor and two differentially coupled magnetorheological (MR) brakes. This paper describes the approach and the prototype design. It then discusses performances in force, motion, and interaction control.

引用

页码：607 / 618

页数：12

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