2 papers
cs.RO2023
Design of a Variable Stiffness Spring with Human-Selectable Stiffness
Chase W. Mathews, David J. Braun
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or runn…
cs.RO2023
Design of a Parallel Elastic Actuator with a Continuously-Adjustable Equilibrium Position
Evangelos Chatziandreou, Chase W. Mathews, David J. Braun
In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged…