This paper presents a bio-inspired dynamic leg model with a novel variable stiffness element to create a normal body motion during stance phase. The variable stiffness in the model is implemented through structure-controlled stiffness. It allows to decouple the stiffness from joint motion, which makes the stiffness a independent variable. Sensitivity of leg model to the variable stiffness element is investigated through dynamics analysis. Because of the decoupled structure of dynamics equations, the deflection of ankle joint related to variable stiffness element is planned based on generalized forced vibration motion in order to create the leg’s motion. A detailed study to investigate the dynamic characteristics under different generalized vibration parameters, and the desired variable stiffness function are evaluated. It is found that under the effects of variable stiffness, the ground reaction forces of leg model during stance motion have similar characteristics to those observed for mammals. Furthermore, in order to create a normal motion during stance phase, linear stiffness variation characteristics and small stiffness range are needed for the proposed variable stiffness actuator.
- Dynamic Systems and Control Division
A Single Leg Model With a Novel Variable Stiffness Element Based on the Dynamics Analysis and its Dynamic Characteristics
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Li, Z, Tan, Y, Hong, L, Dhupia, JS, Zeng, S, & Huang, L. "A Single Leg Model With a Novel Variable Stiffness Element Based on the Dynamics Analysis and its Dynamic Characteristics." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems. Tysons, Virginia, USA. October 11–13, 2017. V001T08A002. ASME. https://doi.org/10.1115/DSCC2017-5057
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