Compliant actuators that mimic biological muscle performance with applications in a highly biomimetic robotic armOA
This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic systems.We introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental results.These actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle technology.Then,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are presented.Experiments demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic aesthetics.Compared to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.
Haosen Yang;Guowu Wei;Lei Ren;Lingyun Yan;Darwin Caldwell
Department of Mechanical,Aerospace and Civil Engineering,University of Manchester,Oxford Rd,Manchester M139PL,UK School of Science,Engineering and Environment,University of Salford,43 Crescent,Salford M54WT,UKSchool of Science,Engineering and Environment,University of Salford,43 Crescent,Salford M54WT,UKDepartment of Mechanical,Aerospace and Civil Engineering,University of Manchester,Oxford Rd,Manchester M139PL,UK Key Laboratory of Bionic Engineering,Ministry of Education,Jilin University,No.2699,Qianjin Road,Changchun 130025,ChinaDepartment of Robotics Engineering,School of Electrical and Electronic Engineering,Shanghai Institute of Technology,100 Haiquan Road,Shanghai 200235,ChinaDepartment of Advanced Robotics,Italian Institute of Technology,Via Morego,30,Genova 16163,Italy
信息技术与安全科学
Artificial muscleCompact compliant actuatorSeries elastic actuatorBiomimetic robots
《Advanced Bionics》 2025 (1)
P.2-18,17
research project funded by the National Natural Science Foundation of China(NSFC)under Grant 91948302 and Grant 52021003Research England fund at NERIC.
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