Adjustable spring mechanisms inspired by human musculoskeletal structure

Abstract Adjustable springs have been employed in robotic applications including physical interaction with humans or the environment. In this paper, planar multi-degree-of-freedom spring mechanisms with adjustable springs are investigated from a viewpoint of stiffness. We propose multi-degree-of-freedom biomimetic spring mechanisms inspired by the musculoskeletal structure of the human upper-extremity, which possesses highly nonlinear kinematic coupling among redundant muscles within its structure. The stiffness characteristics in the operational space of the proposed and conventional mechanisms with torsional springs are analyzed. The stiffness solution of springs for a certain workspace is given and the applicability of these mechanisms is verified through simulation.

[1]  Byung-Ju Yi,et al.  RCC characteristics of planar/spherical three degree-of-freedom parallel mechanisms with joint compliances , 2000 .

[2]  Sethu Vijayakumar,et al.  Constraint-based equilibrium and stiffness control of variable stiffness actuators , 2011, 2011 IEEE International Conference on Robotics and Automation.

[3]  Antonio Bicchi,et al.  Toward soft robots you can depend on , 2008, IEEE Robotics & Automation Magazine.

[4]  A. G. Feldman.  Once More on the Equilibrium-Point Hypothesis (λ Model) for Motor Control , 1986 .

[5]  R B Stein,et al.  Mechanisms relating force and high-frequency stiffness in skeletal muscle. , 1990, Journal of biomechanics.

[6]  T.-J. Yeh,et al.  Control of McKibben pneumatic muscles for a power-assist, lower-limb orthosis , 2010 .

[7]  Wayne L. Winston.  Introduction to Mathematical Programming: Applications and Algorithms , 1990 .

[8]  Patrick van der Smagt,et al.  Antagonism for a Highly Anthropomorphic Hand–Arm System , 2008, Adv. Robotics.

[9]  John Kenneth Salisbury,et al.  Preliminary design of a whole-arm manipulation system (WAMS) , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[10]  Gaurav S. Sukhatme,et al.  Rapid Computation of Optimally Safe Tension Distributions for Parallel Cable-Driven Robots , 2009, IEEE Transactions on Robotics.

[11]  Amir Khajepour,et al.  Pitch dynamic study of a vehicle with a planar suspension system , 2010 .

[12]  Russ Tedrake,et al.  Efficient Bipedal Robots Based on Passive-Dynamic Walkers , 2005, Science.

[13]  Yutaka Fujihara,et al.  Fundamental research on polymer material as artificial muscle , 2008, 2008 SICE Annual Conference.

[14]  Pierre Lopez,et al.  Modeling and control of McKibben artificial muscle robot actuators , 2000 .

[15]  Bram Vanderborght,et al.  Design and control of a lower limb exoskeleton for robot-assisted gait training , 2009 .

[16]  Donald Russell,et al.  Mechanics and stiffness limitations of a variable stiffness actuator for use in prosthetic limbs , 1999 .

[17]  Il Hong Suh,et al.  Independent finger and independent joint-based compliance control of multifingered robot hands , 2003, IEEE Trans. Robotics Autom..

[18]  Sungchul Kang,et al.  A Robot Joint With Variable Stiffness Using Leaf Springs , 2011, IEEE Transactions on Robotics.

[19]  J. P. Paul,et al.  Tensile properties of the in vivo human gastrocnemius tendon. , 2002, Journal of biomechanics.

[20]  Antonio Bicchi,et al.  Fast and "soft-arm" tactics [robot arm design] , 2004, IEEE Robotics & Automation Magazine.

[21]  Michael A. Arbib,et al.  A mathematical analysis of the force-stiffness characteristics of muscles in control of a single joint system , 1992, Biological Cybernetics.

[22]  Ioannis M. Rekleitis,et al.  The Avatar Project , 2008, IEEE Robotics & Automation Magazine.

[23]  Matej Supej,et al.  Development of Prosthetic Knee for Alpine Skiing , 2011 .

[24]  Alin Albu-Schaffer,et al.  Soft robotics , 2008, IEEE Robotics Autom. Mag..

[25]  R. Ham,et al.  Compliant actuator designs , 2009, IEEE Robotics & Automation Magazine.

[26]  Robert Ilg,et al.  An efficient robotic tendon for gait assistance. , 2006, Journal of biomechanical engineering.

[27]  Whee Kuk Kim,et al.  Analysis for a planar 3 degree-of-freedom parallel mechanism with actively adjustable stiffness characteristics , 1997 .

[28]  R. McN. Alexander,et al.  Three Uses for Springs in Legged Locomotion , 1990, Int. J. Robotics Res..

[29]  K. H. Hunt,et al.  Kinematic geometry of mechanisms , 1978 .

[30]  Qiong Wu,et al.  Adjustable stiffness artificial tendons: Conceptual design and energetics study in bipedal walking robots , 2009 .

[31]  Alexander P. Spence.  Basic human anatomy , 1973 .

[32]  Venkat Krovi,et al.  Kinetostatic Design Considerations for an Articulated Leg-Wheel Locomotion , 2006 .

[33]  Alfred A. Rizzi,et al.  Series compliance for an efficient running gait , 2008, IEEE Robotics & Automation Magazine.

[34]  Bram Vanderborght,et al.  MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot , 2007, Robotics Auton. Syst..

[35]  Byung-Ju Yi,et al.  Motion planning algorithms of an omni-directional mobile robot with active caster wheels , 2011, Intell. Serv. Robotics.

[36]  Harvey Lipkin,et al.  Synthesis of Cartesian stiffness for robotic applications , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[37]  Hugh Herr,et al.  Agonist-antagonist active knee prosthesis: a preliminary study in level-ground walking. , 2009, Journal of rehabilitation research and development.

[38]  James P. Schmiedeler,et al.  Design and control of a planar bipedal robot ERNIE with parallel knee compliance , 2008, Auton. Robots.

[39]  Alin Albu-Schäffer,et al.  The DLR hand arm system , 2011, 2011 IEEE International Conference on Robotics and Automation.

[40]  Dongjun Hyun,et al.  Variable stiffness mechanism for human-friendly robots , 2010 .

[41]  Oussama Khatib,et al.  Design and Control of a Bio-inspired Human-friendly Robot , 2010 .