Development of a variable stiffness joint drive module and experimental results of joint angle control

Two prototypes of variable stiffness joint drive modules imitating a human joint structure are presented. A human joint is driven by a pair of flexor and extensor muscles that work antagonistically. The stiffness of the joint is adjusted by their co-contraction. Such a structure was given to the joi...

Full description

Saved in:
Bibliographic Details
Published in:Artificial life and robotics 2010-08, Vol.15 (1), p.72-76
Main Authors: Kobayashi, Jun, Okumura, Katsuhiro, Watanabe, Yasuhiro, Suzuki, Noriyoshi
Format: Article
Language:English
Subjects:
Adjustment
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Human
Mechatronics
Modules
Original Article
Proportional integral derivative
Prototypes
Robotics
Springs
Stiffness
Wire
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Two prototypes of variable stiffness joint drive modules imitating a human joint structure are presented. A human joint is driven by a pair of flexor and extensor muscles that work antagonistically. The stiffness of the joint is adjusted by their co-contraction. Such a structure was given to the joint drive module so that it could achieve a variable stiffness property. The joint is driven by two wires with nonlinear springs. Thanks to the nonlinearity of the springs, the stiffness of the joint can be adjusted by quasi-co-contraction of the wires. With the first prototype, the stiffness adjustability of the joint was empirically confirmed. Regarding joint angle control, a three-layered proportional integral derivative (PID) control algorithm was implemented in the second prototype, and it was verified that the control algorithm worked properly.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-010-0769-8