SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications

With the growing popularity of Human–Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. Therefore, the SMARCOS, a...

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Auteurs principaux:	Vincent Ducastel, Kevin Langlois, Marco Rossini, Victor Grosu, Bram Vanderborght, Dirk Lefeber, Tom Verstraten, Joost Geeroms
Format:	article
Langue:	EN
Publié:	MDPI AG 2021
Sujets:	Human–Robot Interactions (HRI) healthcare Smart Variable Stiffness Actuator (SVSA) Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
Accès en ligne:	https://doaj.org/article/09742eecddc94adda93655d9c391e03c
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id	oai:doaj.org-article:09742eecddc94adda93655d9c391e03c
record_format	dspace
spelling	oai:doaj.org-article:09742eecddc94adda93655d9c391e03c2021-11-25T15:56:51ZSMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications10.3390/act101102892076-0825https://doaj.org/article/09742eecddc94adda93655d9c391e03c2021-10-01T00:00:00Zhttps://www.mdpi.com/2076-0825/10/11/289https://doaj.org/toc/2076-0825With the growing popularity of Human–Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. Therefore, the SMARCOS, a novel off-the-shelf Smart Variable Stiffness Actuator for human-centered robotic applications is proposed in this paper. This modular actuator combines compliant elements and sensors as well as low-level controller and high-bandwidth communication. The characterisation of the actuator is presented in this manuscript, followed by two use-cases wherein the benefits of such technology can be truly exploited. The actuator provides a lightweight design that can serve as the building blocks to facilitate the development of robotic applications.Vincent DucastelKevin LangloisMarco RossiniVictor GrosuBram VanderborghtDirk LefeberTom VerstratenJoost GeeromsMDPI AGarticleHuman–Robot Interactions (HRI)healthcareSmart Variable Stiffness Actuator (SVSA)Materials of engineering and construction. Mechanics of materialsTA401-492Production of electric energy or power. Powerplants. Central stationsTK1001-1841ENActuators, Vol 10, Iss 289, p 289 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Human–Robot Interactions (HRI) healthcare Smart Variable Stiffness Actuator (SVSA) Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
spellingShingle	Human–Robot Interactions (HRI) healthcare Smart Variable Stiffness Actuator (SVSA) Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841 Vincent Ducastel Kevin Langlois Marco Rossini Victor Grosu Bram Vanderborght Dirk Lefeber Tom Verstraten Joost Geeroms SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications
description	With the growing popularity of Human–Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. Therefore, the SMARCOS, a novel off-the-shelf Smart Variable Stiffness Actuator for human-centered robotic applications is proposed in this paper. This modular actuator combines compliant elements and sensors as well as low-level controller and high-bandwidth communication. The characterisation of the actuator is presented in this manuscript, followed by two use-cases wherein the benefits of such technology can be truly exploited. The actuator provides a lightweight design that can serve as the building blocks to facilitate the development of robotic applications.
format	article
author	Vincent Ducastel Kevin Langlois Marco Rossini Victor Grosu Bram Vanderborght Dirk Lefeber Tom Verstraten Joost Geeroms
author_facet	Vincent Ducastel Kevin Langlois Marco Rossini Victor Grosu Bram Vanderborght Dirk Lefeber Tom Verstraten Joost Geeroms
author_sort	Vincent Ducastel
title	SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications
title_short	SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications
title_full	SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications
title_fullStr	SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications
title_full_unstemmed	SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications
title_sort	smarcos: off-the-shelf smart compliant actuators for human–robot applications
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/09742eecddc94adda93655d9c391e03c
work_keys_str_mv	AT vincentducastel smarcosofftheshelfsmartcompliantactuatorsforhumanrobotapplications AT kevinlanglois smarcosofftheshelfsmartcompliantactuatorsforhumanrobotapplications AT marcorossini smarcosofftheshelfsmartcompliantactuatorsforhumanrobotapplications AT victorgrosu smarcosofftheshelfsmartcompliantactuatorsforhumanrobotapplications AT bramvanderborght smarcosofftheshelfsmartcompliantactuatorsforhumanrobotapplications AT dirklefeber smarcosofftheshelfsmartcompliantactuatorsforhumanrobotapplications AT tomverstraten smarcosofftheshelfsmartcompliantactuatorsforhumanrobotapplications AT joostgeeroms smarcosofftheshelfsmartcompliantactuatorsforhumanrobotapplications
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SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human–Robot Applications

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