Design of redundant drive joint with adjustable stiffness and damping mechanism to improve joint admittance

Ikegami, Y., Nagai, K., Loureiro, R.C.V. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2009) Design of redundant drive joint with adjustable stiffness and damping mechanism to improve joint admittance. In: 2009 IEEE 11th international conference on rehabilitation robotics. International conference on rehabilitation robotics ICORR , 1 & 2. IEEE, New York, pp. 234-242. ISBN 9781424437887 doi: 10.1109/ICORR.2009.5209474

Abstract/Summary

Improving admittance of robotic joints is the key issue for making rehabilitation robots safe. This paper describes a design of Redundant Drive Joint (RD-Joint) which allows greater flexibility in the design of robotic mechanisms. The design strategy of the RD-Joint employs a systematic approach which consists of 1) adopting a redundant joint mechanism with internal kinematical redundancy to reduce effective joint inertia, and 2) adopting an adjustable admittance mechanism with a novel Cross link Reduction Mechanism and mechanical springs and dampers as a passive second actuator. First, the basic concepts used to construct the redundant drive joint mechanism are explained, in particular the method that allows a reduction in effective inertia at the output joint. The basic structure of the RD-Joint is introduced based on the idea of reduced inertia along with a method to include effective stiffness and damping. Then, the basic design of the adjustable admittance mechanism is described. Finally, a prototype of RD-joint is described and its expected characteristics are discussed.

Additional Information	11th IEEE International Conference on Rehabilitation Robotics Kyoto, JAPAN 23-26 Jun 2009
Item Type	Book or Report Section
URI	https://reading-clone.eprints-hosting.org/id/eprint/14407
Item Type	Book or Report Section
Divisions	Life Sciences > School of Biological Sciences > Department of Bio-Engineering
Additional Information	11th IEEE International Conference on Rehabilitation Robotics Kyoto, JAPAN 23-26 Jun 2009
Publisher	IEEE
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