Softening nonlinear-stiffness elastic mechanism with continuous adjustability for human-robot interaction force control

被引:0
|
作者
Tu, Zhixin [1 ,2 ]
Liu, Haifeng [1 ,2 ]
Jiang, Yihao [1 ,2 ]
Ye, Tao [1 ,2 ]
Qian, Yuepeng [1 ,2 ]
Leng, Yuquan [1 ,2 ]
Dai, Jian S. [1 ,2 ,3 ]
Fu, Chenglong [1 ,2 ]
机构
[1] Southern Univ Sci & Technol, Shenzhen Key Lab Biomimet Robot & Intelligent Syst, Shenzhen 518055, Guangdong, Peoples R China
[2] Southern Univ Sci & Technol, Guangdong Prov Key Lab Human Augmentat & Rehabil R, Shenzhen 518055, Guangdong, Peoples R China
[3] Kings Coll London, Ctr Robot Res, London WC2R 2LS, England
关键词
Elastic mechanism; Nonlinear stiffness; Softening stiffness behavior; Adjustable stiffness profile; Human-robot interaction force control; VARIABLE STIFFNESS; DESIGN; ACTUATORS; SERIES; JOINT; ASSISTANCE; SYSTEM;
D O I
10.1016/j.mechmachtheory.2024.105704
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Human-robot interaction of human augmentation robots presents a considerable challenge in achieving accurate and robust interaction force control. This paper proposes a novel softening nonlinear elastic mechanism with continuous adjustability (SNEMA) to address this challenge. The SNEMA achieves softening stiffness behavior through a nonlinear mapping relationship between the lengths of the diamond diagonals. This unique stiffness profile, featuring high stiffness for low output and low stiffness for high output, strikes a balance between the output force range and force resolution. Moreover, the continuous and convenient adjustment of the stiffness profile is realized by utilizing two antagonistic linear springs, enabling optimal stiffness matching for different output force ranges. Bench tests were conducted to validate the stiffness modeling and evaluate the force tracking and interaction performance of the developed SNEMA. Experimental results demonstrate the capability of the SNEMA to achieve precise force control and good collision safety in human-robot interaction. The proposed SNEMA is finally deployed on the Centaur robot to demonstrate its advantages in practical application.
引用
收藏
页数:19
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