Compact Series Visco-Elastic Joint (SVEJ) for Smooth Torque Control

• Published in: IEEE transactions on haptics 2020-01, Vol.13 (1), p.226-232
• Main Authors: Chiaradia, Domenico, Tiseni, Luca, Frisoli, Antonio
• Format: Article
• Language: English
• Subjects: Control stability; Control systems design; Controllers; Damping; Exoskeletons; Modulus of elasticity; physical human-robot interaction; Series visco-elastic joint; Springs (elastic); Stability analysis; Stiffness; Three dimensional printing; torque control; torque sensor; Torque sensors (robotics)
• ISSN: 1939-1412; 2329-4051
• DOI: 10.1109/TOH.2020.2970912

The design and control of a new series-viscous-elastic joint are presented. The proposed joint consists of 3D printed parts compressing nonlinear elastic silicone springs. The use of silicone springs is the main novelty of the system; they exhibit internal damping, which enhances system performance allowing a simpler and more stable control. Their stiffness allows the system to bear a torque of about 4.5 Nm at a deformation angle of about 20 degrees. In this article, the system is modeled using the Neo-Hookean material model and then characterized through experiments to build the joint torque estimator. A proportional torque controller is implemented to evaluate bandwidth, transparency, impedance rendering, and stability, obtaining satisfactory results. The bandwidth ranges from 6.9 to 9.9 Hz depending on chirp input torque amplitude, as the system is nonlinear. The proposed solution is compact and cheap; both the design and the torque controller are suitable for future integration in an exoskeleton, or a cooperative robot, or a haptic device. SVEJ works as a torque sensor and introduces compliance between the motor and the environment, enhancing safety for robotic devices interacting with humans.