Optimized artificial muscles for an inherently safe robotic arm

Johan Surentu; Gabriëlle J.M. Tuijthof; Just L. Herder

doi:10.1109/ICORR.2007.4428556

Optimized artificial muscles for an inherently safe robotic arm

Johan Surentu, Gabriëlle J.M. Tuijthof, Just L. Herder

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

4 Citations (Scopus)

Abstract

Safe interaction between rehabilitation robots and patients requires the development of dedicated technology. Inherently compliant actuators, such as artificial muscles (McKibben actuators) can help achieve this goal. This paper presents McKibben actuators with an initial length that is invariant with pressure. They also feature improved range of stiffness and increase range of extension. An application of the developed actuators in an anthropomorphic robotic arm presented. A stiffness control scheme was implemented that allows it to safely shake hands with humans.

Original language	English
Title of host publication	2007 IEEE 10th International Conference on Rehabilitation Robotics
Editors	Bart Driessen, Just L. Herder, Gert Jan Gelderblom
Publisher	IEEE
Pages	1070-1076
Number of pages	7
ISBN (Electronic)	978-1-4244-1320-1
ISBN (Print)	978-1-4244-1319-5
DOIs	https://doi.org/10.1109/ICORR.2007.4428556
Publication status	Published - 14 Jan 2008
Externally published	Yes
Event	IEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007: Robots care! - Noordwijk, Netherlands Duration: 13 Jun 2007 → 15 Jun 2007 Conference number: 10

Publication series

Name	IEEE International Conference on Rehabilitation Robotics. Proceedings
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

Conference

Conference	IEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007
Abbreviated title	ICORR
Country/Territory	Netherlands
City	Noordwijk
Period	13/06/07 → 15/06/07

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10.1109/ICORR.2007.4428556

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Surentu, J., Tuijthof, G. J. M., & Herder, J. L. (2008). Optimized artificial muscles for an inherently safe robotic arm. In B. Driessen, J. L. Herder, & G. J. Gelderblom (Eds.), 2007 IEEE 10th International Conference on Rehabilitation Robotics (pp. 1070-1076). Article 4428556 (IEEE International Conference on Rehabilitation Robotics. Proceedings). IEEE. https://doi.org/10.1109/ICORR.2007.4428556

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title = "Optimized artificial muscles for an inherently safe robotic arm",

abstract = "Safe interaction between rehabilitation robots and patients requires the development of dedicated technology. Inherently compliant actuators, such as artificial muscles (McKibben actuators) can help achieve this goal. This paper presents McKibben actuators with an initial length that is invariant with pressure. They also feature improved range of stiffness and increase range of extension. An application of the developed actuators in an anthropomorphic robotic arm presented. A stiffness control scheme was implemented that allows it to safely shake hands with humans.",

author = "Johan Surentu and Tuijthof, {Gabri{\"e}lle J.M.} and Herder, {Just L.}",

year = "2008",

month = jan,

day = "14",

doi = "10.1109/ICORR.2007.4428556",

language = "English",

isbn = "978-1-4244-1319-5",

series = "IEEE International Conference on Rehabilitation Robotics. Proceedings",

publisher = "IEEE",

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editor = "Bart Driessen and Herder, {Just L.} and Gelderblom, {Gert Jan}",

booktitle = "2007 IEEE 10th International Conference on Rehabilitation Robotics",

address = "United States",

note = "IEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007 : Robots care!, ICORR ; Conference date: 13-06-2007 Through 15-06-2007",

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Surentu, J, Tuijthof, GJM & Herder, JL 2008, Optimized artificial muscles for an inherently safe robotic arm. in B Driessen, JL Herder & GJ Gelderblom (eds), 2007 IEEE 10th International Conference on Rehabilitation Robotics., 4428556, IEEE International Conference on Rehabilitation Robotics. Proceedings, IEEE, pp. 1070-1076, IEEE 10th International Conference on Rehabilitations Robotics, ICORR 2007, Noordwijk, Netherlands, 13/06/07. https://doi.org/10.1109/ICORR.2007.4428556

Optimized artificial muscles for an inherently safe robotic arm. / Surentu, Johan; Tuijthof, Gabriëlle J.M.; Herder, Just L.
2007 IEEE 10th International Conference on Rehabilitation Robotics. ed. / Bart Driessen; Just L. Herder; Gert Jan Gelderblom. IEEE, 2008. p. 1070-1076 4428556 (IEEE International Conference on Rehabilitation Robotics. Proceedings).

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

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Optimized artificial muscles for an inherently safe robotic arm

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