{"title":"优化的人造肌肉为一个固有的安全机械手臂","authors":"J. Surentu, G. Tuijthof, J. Herder","doi":"10.1109/ICORR.2007.4428556","DOIUrl":null,"url":null,"abstract":"Safe interaction between rehabilitation robots and patients requires the development of dedicated technology. Inherently compliant actuators, such as artificial muscles (McKibben actuators) can help achieve this goal. This paper presents McKibben actuators with an initial length that is invariant with pressure. They also feature improved range of stiffness and increase range of extension. An application of the developed actuators in an anthropomorphic robotic arm presented. A stiffness control scheme was implemented that allows it to safely shake hands with humans.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Optimized artificial muscles for an inherently safe robotic arm\",\"authors\":\"J. Surentu, G. Tuijthof, J. Herder\",\"doi\":\"10.1109/ICORR.2007.4428556\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Safe interaction between rehabilitation robots and patients requires the development of dedicated technology. Inherently compliant actuators, such as artificial muscles (McKibben actuators) can help achieve this goal. This paper presents McKibben actuators with an initial length that is invariant with pressure. They also feature improved range of stiffness and increase range of extension. An application of the developed actuators in an anthropomorphic robotic arm presented. A stiffness control scheme was implemented that allows it to safely shake hands with humans.\",\"PeriodicalId\":197465,\"journal\":{\"name\":\"2007 IEEE 10th International Conference on Rehabilitation Robotics\",\"volume\":\"36 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2007-06-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2007 IEEE 10th International Conference on Rehabilitation Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICORR.2007.4428556\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 IEEE 10th International Conference on Rehabilitation Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICORR.2007.4428556","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Optimized artificial muscles for an inherently safe robotic arm
Safe interaction between rehabilitation robots and patients requires the development of dedicated technology. Inherently compliant actuators, such as artificial muscles (McKibben actuators) can help achieve this goal. This paper presents McKibben actuators with an initial length that is invariant with pressure. They also feature improved range of stiffness and increase range of extension. An application of the developed actuators in an anthropomorphic robotic arm presented. A stiffness control scheme was implemented that allows it to safely shake hands with humans.
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