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Reflexes in Variable Stiffness Actuators

Kühne, Markus (2013) Reflexes in Variable Stiffness Actuators. Diploma. DLR-Interner Bericht. IB-Nr.: 572-13-28, 86 S.

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Abstract

In humans, as well as in animals, reflexes are responsible for a variety of tasks in motion control. This thesis aims to analyze reflex mechanisms and transfer them to a Variable Stiffness Actuator (VSA) joint in the DLR Hand Arm System of the German Aerospace Center. The reflex arcs in humans are studied from input organ to activated neurons and muscles. Three main reflexes in skeletal muscles are identified: The stretch reflex, the Nociceptive Withdrawal Reflex (NWR) and the autogenic inhibition. An implementation hierarchy is proposed and the mathematical stability of the controller is shown. Fast, online generated NWR trajectories for VSAs are best of jerk-limited type and damage of the spring can be avoided by temporarily switching into torque control. The advantages to performance and safety of the system are experimentally proven. A prototype of the DLR artificial skin is mounted on the forearm of the DLR Hand Arm System for the experimental setup.

Item URL in elib:https://elib.dlr.de/86786/
Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Reflexes in Variable Stiffness Actuators
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kühne, MarkusRMC-MKSUNSPECIFIED
Date:13 December 2013
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:86
Status:Published
Keywords:Reflexes, VSA, Variable Stiffness Actuator, Stretch Reflex, Nociceptive Withdrawal Reflex, autogenic inhibition
Institution:DLR / TUM
Department:RMC, Institut für Robotik und Mechatronik / Lehrstuhl für Regelungstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Wolf, Dipl.-Ing. Sebastian
Deposited On:17 Dec 2013 13:54
Last Modified:17 Dec 2013 13:54

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