Abstract
This paper presents the design of a novel adjustably damped hip and ankle joint using braided pneumatic actuators. These joints provide a wide range of motion and exhibit the same change in stiffness as flexion increases that human joints exhibit, which should also increase bipedal stability, adaptability, and controllability. The theoretical behaviors of the joint make them desirable for use in mobile robotics and should provide a lightweight yet mechanically strong connection that is resistant to unexpected perturbations and catastrophic failure. The joints also bridge the gap between completely soft robotics and completely rigid robotics.
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The authors acknowledge the support of the Mechanical and Materials Engineering Department in the Maseeh College of Engineering at Portland State University.
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Steele, A.G., Hunt, A.J. (2018). Braided Pneumatic Actuators as a Variable Stiffness Approximation of Synovial Joints. In: Vouloutsi , V., et al. Biomimetic and Biohybrid Systems. Living Machines 2018. Lecture Notes in Computer Science(), vol 10928. Springer, Cham. https://doi.org/10.1007/978-3-319-95972-6_48
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DOI: https://doi.org/10.1007/978-3-319-95972-6_48
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