3 papers
cs.RO2023
Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function
Motohiro Hirao, Burak Kurkcu, Alireza Ghanbarpour +1
Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and c…
cs.RO2023
Control of Soft Pneumatic Actuators with Approximated Dynamical Modeling
Wu-Te Yang, Burak Kurkcu, Motohiro Hirao +5
This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a se…
cs.RO2023
Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and Controllability via an Approximated Structure
Wu-Te Yang, Burak Kurkcu, Masayoshi Tomizuka
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft a…