ICRA 2012 Paper Abstract


Paper WeD04.6

Accoto, Dino (UniversitÓ Campus Bio-Medico), Tagliamonte, Nevio Luigi (UniversitÓ Campus Bio-Medico di Roma), Carpino, Giorgio (University Campus Bio-Medico), Sergi, Fabrizio (UniversitÓ Campus Bio-Medico di Roma), Di Palo, Michelangelo (UniversitÓ Campus Bio-Medico di Roma), Guglielmelli, Eugenio (Universita' Campus Bio-Medico)

pVEJ: A Modular Passive Viscoelastic Joint for Assistive Wearable Robots

Scheduled for presentation during the Invited Session "Embodied Intelligence - Complient Actuators" (WeD04), Wednesday, May 16, 2012, 17:45−18:00, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Compliant Joint/Mechanism, Rehabilitation Robotics, Physical Human-Robot Interaction


In complex dynamical tasks human motor control notably exploits the possibility of regulating joints mechanical impedance, both for stability and for energetic optimization purposes. These biomechanical findings should translate in design requirements for wearable robotics joints, which are required to produce adaptable intrinsic viscoelastic behaviors. This paper describes the design of a purely mechanical, rotary, passive ViscoElastic Joint (pVEJ), functionally equivalent to a torsional spring connected in parallel to a rotary viscous damper. The device has a modular design, which allows to modify the stiffness characteristics by replacing cam profiles. Damping coefficient can be also regulated off-line, manually acting on a valve. Prototype performances are characterized using a custom-developed dynamometric test-bed. Results demonstrate the capability of the system to render both the desired stiffness and damping values, in a range of impedance and peak torque compatible to that of wearable robotics for gait assistance.



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