Soft robotics with variable stiffness actuators: Tough robots for soft human robot interaction

Sebastian Wolf; Thomas Bahls; Maxime Chalon; Werner Friedl; Markus Grebenstein; Hannes Höppner; Markus Kühne; Dominic Lakatos; Nico Mansfeld; Mehmet Can Özparpucu; Florian Petit; Jens Reinecke; Roman Weitschat; Alin Albu-Schäffer

doi:10.1007/978-3-662-44506-8_20

Soft robotics with variable stiffness actuators: Tough robots for soft human robot interaction

Sebastian Wolf, Thomas Bahls, Maxime Chalon, Werner Friedl, Markus Grebenstein, Hannes Höppner, Markus Kühne, Dominic Lakatos, Nico Mansfeld, Mehmet Can Özparpucu, Florian Petit, Jens Reinecke, Roman Weitschat, Alin Albu-Schäffer

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

28 Scopus citations

Abstract

Robots that are not only robust, dynamic, and gentle in the human robot interaction, but are also able to perform precise and repeatable movements, need accurate dynamics modeling and a high-performance closed-loop control. As a technological basis we propose robots with intrinsically compliant joints, a stiff link structure, and a soft shell. The flexible joints are driven by Variable Stiffness Actuators (VSA) with a mechanical spring coupling between the motor and the actuator output and the ability to change the mechanical stiffness of the spring coupling. Several model based and model free control approaches have been developed for this technology, e.g. Cartesian stiffness control, optimal control, reactions, reflexes, and cyclic motion control.

Original language	English
Title of host publication	Soft Robotics
Subtitle of host publication	Transferring Theory to Application
Publisher	Springer Berlin Heidelberg
Pages	231-254
Number of pages	24
ISBN (Electronic)	9783662445068
ISBN (Print)	9783662445051
DOIs	https://doi.org/10.1007/978-3-662-44506-8_20
State	Published - 1 Jan 2015
Externally published	Yes

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10.1007/978-3-662-44506-8_20

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Wolf, S., Bahls, T., Chalon, M., Friedl, W., Grebenstein, M., Höppner, H., Kühne, M., Lakatos, D., Mansfeld, N., Can Özparpucu, M., Petit, F., Reinecke, J., Weitschat, R., & Albu-Schäffer, A. (2015). Soft robotics with variable stiffness actuators: Tough robots for soft human robot interaction. In Soft Robotics: Transferring Theory to Application (pp. 231-254). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-662-44506-8_20

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abstract = "Robots that are not only robust, dynamic, and gentle in the human robot interaction, but are also able to perform precise and repeatable movements, need accurate dynamics modeling and a high-performance closed-loop control. As a technological basis we propose robots with intrinsically compliant joints, a stiff link structure, and a soft shell. The flexible joints are driven by Variable Stiffness Actuators (VSA) with a mechanical spring coupling between the motor and the actuator output and the ability to change the mechanical stiffness of the spring coupling. Several model based and model free control approaches have been developed for this technology, e.g. Cartesian stiffness control, optimal control, reactions, reflexes, and cyclic motion control.",

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Wolf, S, Bahls, T, Chalon, M, Friedl, W, Grebenstein, M, Höppner, H, Kühne, M, Lakatos, D, Mansfeld, N, Can Özparpucu, M, Petit, F, Reinecke, J, Weitschat, R & Albu-Schäffer, A 2015, Soft robotics with variable stiffness actuators: Tough robots for soft human robot interaction. in Soft Robotics: Transferring Theory to Application. Springer Berlin Heidelberg, pp. 231-254. https://doi.org/10.1007/978-3-662-44506-8_20

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T1 - Soft robotics with variable stiffness actuators

T2 - Tough robots for soft human robot interaction

AU - Wolf, Sebastian

AU - Bahls, Thomas

AU - Chalon, Maxime

AU - Friedl, Werner

AU - Grebenstein, Markus

AU - Höppner, Hannes

AU - Kühne, Markus

AU - Lakatos, Dominic

AU - Mansfeld, Nico

AU - Can Özparpucu, Mehmet

AU - Petit, Florian

AU - Reinecke, Jens

AU - Weitschat, Roman

AU - Albu-Schäffer, Alin

PY - 2015/1/1

Y1 - 2015/1/1

N2 - Robots that are not only robust, dynamic, and gentle in the human robot interaction, but are also able to perform precise and repeatable movements, need accurate dynamics modeling and a high-performance closed-loop control. As a technological basis we propose robots with intrinsically compliant joints, a stiff link structure, and a soft shell. The flexible joints are driven by Variable Stiffness Actuators (VSA) with a mechanical spring coupling between the motor and the actuator output and the ability to change the mechanical stiffness of the spring coupling. Several model based and model free control approaches have been developed for this technology, e.g. Cartesian stiffness control, optimal control, reactions, reflexes, and cyclic motion control.

AB - Robots that are not only robust, dynamic, and gentle in the human robot interaction, but are also able to perform precise and repeatable movements, need accurate dynamics modeling and a high-performance closed-loop control. As a technological basis we propose robots with intrinsically compliant joints, a stiff link structure, and a soft shell. The flexible joints are driven by Variable Stiffness Actuators (VSA) with a mechanical spring coupling between the motor and the actuator output and the ability to change the mechanical stiffness of the spring coupling. Several model based and model free control approaches have been developed for this technology, e.g. Cartesian stiffness control, optimal control, reactions, reflexes, and cyclic motion control.

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SN - 9783662445051

SP - 231

EP - 254

BT - Soft Robotics

PB - Springer Berlin Heidelberg

ER -

Soft robotics with variable stiffness actuators: Tough robots for soft human robot interaction

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