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 B08 - CLEANING B08B - CLEANING IN GENERAL
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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