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Title: Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness

Abstract

An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.

Inventors:
;
Issue Date:
Research Org.:
Univ. of Michigan, Ann Arbor, MI (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1175287
Patent Number(s):
6870343
Application Number:
10/672,290
Assignee:
The University of Michigan (Ann Arbor, MI)
Patent Classifications (CPCs):
B - PERFORMING OPERATIONS B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
DOE Contract Number:  
FG04-86NE37969
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING

Citation Formats

Borenstein, Johann, and Granosik, Grzegorz. Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness. United States: N. p., 2005. Web.
Borenstein, Johann, & Granosik, Grzegorz. Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness. United States.
Borenstein, Johann, and Granosik, Grzegorz. Tue . "Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness". United States. https://www.osti.gov/servlets/purl/1175287.
@article{osti_1175287,
title = {Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness},
author = {Borenstein, Johann and Granosik, Grzegorz},
abstractNote = {An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2005},
month = {3}
}

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