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Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications.

Ciarán T O'Neill1, Harrison T Young1, Cameron J Hohimer1

  • 1John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA.

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|April 12, 2023
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Summary
This summary is machine-generated.

This study introduces a new soft, tunable pneumatic impedance module for robots. It enables precise control of stiffness and torque, crucial for advanced wearable robotic applications.

Keywords:
antagonistic actuatorfluidic controlpneumatictextile-basedtunable stiffness

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Traditional soft actuator design prioritizes trajectory or force control over impedance.
  • Controlling actuator impedance is essential for safe and effective human-robot interaction and wearable devices.

Purpose of the Study:

  • To develop a novel soft, tunable pneumatic impedance module for bidirectional torque control.
  • To enable modulation of stiffness and emulation of nonlinear profiles for wearable robotic applications.

Main Methods:

  • Utilized an antagonistic setup of textile-based pneumatic actuators.
  • Employed mechanical programming (geometric parameter tuning) to adjust baseline torque-angle relationships.
  • Developed a high-bandwidth (8 Hz) fluidic controller with proportional valve characterization, fluidic modeling, and control equations.

Main Results:

  • Achieved tunable stiffness modulation from 0 to 100 Nm/rad.
  • Demonstrated control at velocities up to 120°/s.
  • Successfully emulated asymmetric and nonlinear stiffness profiles.

Conclusions:

  • The developed soft impedance module offers precise, tunable control over stiffness and torque.
  • This technology is well-suited for enhancing the performance and safety of wearable robotic systems.