Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements

Boi Okken; Stefano Stramigioli; Wesley Roozing

doi:10.1109/SSRR56537.2022.10018635

Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements

Boi Okken, Stefano Stramigioli, Wesley Roozing

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

1 Citation (Scopus)

87 Downloads (Pure)

Abstract

We present the design and development of a non-linear series-elastic element based on repelling magnets. Progressive stiffness offers the transparency advantages of a low-stiffness elastic actuator at low load levels, and the high torque tracking bandwidth of a high-stiffness actuator at high loads. The design space of this magnet-based concept is thoroughly analysed, for both box- and arc-segment magnets. A proof-of-concept prototype is presented which is experimentally validated. A gain-scheduled torque controller is used to exploit its non-linear dynamics. Simulation and experimental results demonstrate the viability of the concept.

Original language	English
Title of host publication	2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Publisher	IEEE
Pages	166-173
Number of pages	8
ISBN (Electronic)	9781665456807
ISBN (Print)	978-1-6654-5681-4
DOIs	https://doi.org/10.1109/SSRR56537.2022.10018635
Publication status	Published - 24 Jan 2023
Event	IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022 - Sevilla, Spain Duration: 8 Nov 2022 → 10 Nov 2022

Conference

Conference	IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022
Abbreviated title	SSRR 2022
Country/Territory	Spain
City	Sevilla
Period	8/11/22 → 10/11/22

Keywords

Actuators
Analytical models
Torque
Magnetoelasticity
Prototypes
Bandwidth
Magnetic analysis
2023 OA procedure

Access to Document

10.1109/SSRR56537.2022.10018635

ArticleFinal published version, 3.75 MBLicence: Taverne

Cite this

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title = "Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements",

abstract = "We present the design and development of a non-linear series-elastic element based on repelling magnets. Progressive stiffness offers the transparency advantages of a low-stiffness elastic actuator at low load levels, and the high torque tracking bandwidth of a high-stiffness actuator at high loads. The design space of this magnet-based concept is thoroughly analysed, for both box- and arc-segment magnets. A proof-of-concept prototype is presented which is experimentally validated. A gain-scheduled torque controller is used to exploit its non-linear dynamics. Simulation and experimental results demonstrate the viability of the concept.",

keywords = "Actuators, Analytical models, Torque, Magnetoelasticity, Prototypes, Bandwidth, Magnetic analysis, 2023 OA procedure",

author = "Boi Okken and Stefano Stramigioli and Wesley Roozing",

year = "2023",

month = jan,

day = "24",

doi = "10.1109/SSRR56537.2022.10018635",

language = "English",

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pages = "166--173",

booktitle = "2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)",

publisher = "IEEE",

address = "United States",

note = "IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022, SSRR 2022 ; Conference date: 08-11-2022 Through 10-11-2022",

}

Okken, B , Stramigioli, S & Roozing, W 2023, Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements. in 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)., 10018635, IEEE, pp. 166-173, IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022, Sevilla, Spain, 8/11/22. https://doi.org/10.1109/SSRR56537.2022.10018635

Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements. / Okken, Boi ; Stramigioli, Stefano ; Roozing, Wesley.
2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE, 2023. p. 166-173 10018635.

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

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T1 - Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements

AU - Okken, Boi

AU - Stramigioli, Stefano

AU - Roozing, Wesley

PY - 2023/1/24

Y1 - 2023/1/24

N2 - We present the design and development of a non-linear series-elastic element based on repelling magnets. Progressive stiffness offers the transparency advantages of a low-stiffness elastic actuator at low load levels, and the high torque tracking bandwidth of a high-stiffness actuator at high loads. The design space of this magnet-based concept is thoroughly analysed, for both box- and arc-segment magnets. A proof-of-concept prototype is presented which is experimentally validated. A gain-scheduled torque controller is used to exploit its non-linear dynamics. Simulation and experimental results demonstrate the viability of the concept.

AB - We present the design and development of a non-linear series-elastic element based on repelling magnets. Progressive stiffness offers the transparency advantages of a low-stiffness elastic actuator at low load levels, and the high torque tracking bandwidth of a high-stiffness actuator at high loads. The design space of this magnet-based concept is thoroughly analysed, for both box- and arc-segment magnets. A proof-of-concept prototype is presented which is experimentally validated. A gain-scheduled torque controller is used to exploit its non-linear dynamics. Simulation and experimental results demonstrate the viability of the concept.

KW - Actuators

KW - Analytical models

KW - Torque

KW - Magnetoelasticity

KW - Prototypes

KW - Bandwidth

KW - Magnetic analysis

KW - 2023 OA procedure

U2 - 10.1109/SSRR56537.2022.10018635

DO - 10.1109/SSRR56537.2022.10018635

M3 - Conference contribution

SN - 978-1-6654-5681-4

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EP - 173

BT - 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

PB - IEEE

T2 - IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022

Y2 - 8 November 2022 through 10 November 2022

ER -

Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements

Abstract

Conference

Keywords

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Cite this