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Design and Control of a Discrete Variable Stiffness Actuator With Instant Stiffness Switch for Safe Human-Robot Interaction

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dc.contributor.advisor HUSSAIN, IRFAN
dc.contributor.author HUSSAIN, IRFAN
dc.contributor.author ALBALASIE, AHMAD
dc.contributor.author AWAD, MOHAMMAD
dc.contributor.author TAMIZI, KHALED
dc.contributor.author NIU, ZHENWEI
dc.contributor.author SENEVIRATNE, LAKMAL
dc.contributor.author GAN, DONGMING
dc.date.accessioned 2021-10-10T07:22:20Z
dc.date.accessioned 2022-05-22T08:54:27Z
dc.date.available 2021-10-10T07:22:20Z
dc.date.available 2022-05-22T08:54:27Z
dc.date.issued 2021-08-16
dc.identifier.citation Hussain, I., Albalasie, A., Awad, M.I., Tamizi, K., Niu, Z., Seneviratne, L. and Gan, D., 2021. Design and Control of a Discrete Variable Stiffness Actuator with Instant Stiffness Switch for Safe Human-Robot Interaction. IEEE Access. en_US
dc.identifier.issn 2169-3536
dc.identifier.uri http://localhost:8080/xmlui/handle/123456789/8283
dc.description.abstract Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI). However, in the incidents of collision, the need of a fast response in stiffness tuning would rise to ensure safety. In this paper, we present a novel Discrete Variable Stiffness Actuator (DVSA) to be used in a compliant robotic manipulator for safe physical Human-Robot Interaction (pHRI). The novelty of this actuator lies in its design topology which allows the stiffness level to change swiftly among predefined levels without the need of complex stiffness tuning mechanism. Through this topology, three springs in parallel are connected serially between the motor and the link via gear train. The stiffness of the actuator is altered by adding/subtracting the number of involved springs, which can be realized through engagement/disengagement electromagnetic clutches on two of these spring’s shafts. The working principle, and the detailed design of the actuator are illustrated. Moreover, the stiffness model and the dynamic model are presented and discussed thoroughly. In order to validate these mathematical models and achieve optimal control, system identification for the dynamic parameters was performed experimentally on the physical model. Furthermore, the system’s ability of tracking desired trajectory was achieved through the implementation of different control techniques including PID (Proportional-Integral-Derivative), LQR (Linear Quadratic Regulator) and pole placement. The results show the high potential of utilizing the actuator in compliant manipulators. Moreover, DVSA is also characterized for safety in pHRI through Head-Injury Criterion (HIC). Finally, an application of DVSA in human augmentation task (Weight Bearing Task) is presented. en_US
dc.description.sponsorship Khalifa University of Science and Technology under Award RC1-2018-KUCARS and Award RC2-2018-022 (HEIC). en_US
dc.language.iso en en_US
dc.publisher IEEE Access en_US
dc.subject Variable stiffness actuators en_US
dc.subject human-robot-interaction en_US
dc.subject compliant manipulation en_US
dc.title Design and Control of a Discrete Variable Stiffness Actuator With Instant Stiffness Switch for Safe Human-Robot Interaction en_US
dc.type Article en_US

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