Characterization of Control-Dependent Variable Stiffness Behavior in Discrete Muscle-Like Actuators
Source abstract
Abstract
This paper presents the modeling, characterization and validation for a discrete muscle-like actuator system composed of individual on–off motor units with complex dynamics inherent to the architecture. The dynamics include innate hardening behavior in the actuator with increased length. A series elastic actuator model is used as the plant model for an observer used in feedback control of the actuator. Simulations are performed showing the nonlinear nature of the changing stiffness as well as how this affects the dynamics, clearly observed in the phase portrait. Variable-stiffness hardening behavior is evaluated in experiment and shows good agreement with the model.
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Research context
OpenAlex topics: Prosthetics and Rehabilitation Robotics · Muscle activation and electromyography studies · Soft Robotics and Applications
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Affiliations
Department of Mechanical Engineering, University of Tulsa, Tulsa, OK 74104, USA
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