The bionic design of muscles is a research hotspot at present. Many researchers have designed elastic actuators based on the Hill muscle model, and most them include an active contraction element, passive element series but they need more parametric mechanical structure control under guidance model. In this research, nonlinear cable actuating mechanism in which parameters are optimized model to...

The importance of force sensitivity in robots that interact with unknown disturbance is acknowledged. For the manipulators, impedance controlled robots realized safe and robust object manipulation. For the legged mechanism, it is expected to enhance locomotion stability, since locomotion fundamentally is a manipulation of the center of mass. In order to maximize force sensitivity, both the forc...

Stable platforms are widely used in many fields to keep the environment stable for load under influence of motion craft and other carriers. However, its stability has always been an important serious challenge researchers. In order further improve shock absorption performance, a dynamic model based on platform with series elastic actuator (SEA) is established. Meanwhile, reference trajectory X-...

This paper presents a miniature Linear Series Elastic Actuator (LSEA), in which two low-cost linear potentiometers were adopted to achieve compact design. To improve the measurement accuracy of potentiometer, novel Bezier-based Calibration Method (BCM) and its optimization method proposed calibrate inherent nonlinearity potentiometer. efficiency BCM was investigated numerically by making compar...

Commercially available prosthetic elbows have stiff actuators (motors) that are only capable of motion (position or velocity) control. In an attempt to mimic human physiology while accommodating prosthetic demands, a non-backdrivable motor has been created that is less stiff and capable of impedance control. Impedance control responds well to different environments and the presence of perturbat...

In this work, an active vibration control method using compliant-based actuators is proposed for controlling a wide range of vibration and its noise-associated applications. The compliant-based actuator combines a conventional actuator with elastic elements, such as passive springs, that can be demonstrated to have better accuracy and robustness for force control compared to conventional stiff ...

Piezoelectric bimorph actuation has been successfully used in numerous types of microdevices, most notably micropumps. However, even for the simple case of circular geometry, analytical treatments are severely limited. This study utilized the finite-element method to optimize the deflection of a circular bimorph consisting of a single piezoelectric actuator, bonding material and elastic plate o...