Humanoid arm with the integrated serial elastic actuator

Xijian Huo; Yanfeng Xia; Yiwei Liu; Li Jiang; Hong Liu

doi:10.1109/ROBIO.2014.7090684

Humanoid arm with the integrated serial elastic actuator

Xijian Huo
, Yanfeng Xia
, Yiwei Liu^*
, Li Jiang
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And a 7-degree-of-freedom humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2321-2326
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090684
State	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

Access to Document

10.1109/ROBIO.2014.7090684

Cite this

Huo, X., Xia, Y., Liu, Y., Jiang, L., & Liu, H. (2014). Humanoid arm with the integrated serial elastic actuator. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 2321-2326). Article 7090684 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090684

@inproceedings{101e46dc17d2489ba046fa008089c997,

title = "Humanoid arm with the integrated serial elastic actuator",

abstract = "This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And a 7-degree-of-freedom humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.",

author = "Xijian Huo and Yanfeng Xia and Yiwei Liu and Li Jiang and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

month = apr,

day = "20",

doi = "10.1109/ROBIO.2014.7090684",

language = "英语",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2321--2326",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

address = "美国",

}

Huo, X, Xia, Y, Liu, Y , Jiang, L & Liu, H 2014, Humanoid arm with the integrated serial elastic actuator. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090684, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 2321-2326, 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090684

Humanoid arm with the integrated serial elastic actuator. / Huo, Xijian; Xia, Yanfeng; Liu, Yiwei et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2321-2326 7090684 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Huo, Xijian

AU - Xia, Yanfeng

AU - Liu, Yiwei

AU - Jiang, Li

AU - Liu, Hong

PY - 2014/4/20

Y1 - 2014/4/20

N2 - This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And a 7-degree-of-freedom humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.

AB - This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And a 7-degree-of-freedom humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.

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U2 - 10.1109/ROBIO.2014.7090684

DO - 10.1109/ROBIO.2014.7090684

M3 - 会议稿件

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SP - 2321

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BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014

Y2 - 5 December 2014 through 10 December 2014

ER -

Huo X, Xia Y, Liu Y , Jiang L , Liu H. Humanoid arm with the integrated serial elastic actuator. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2321-2326. 7090684. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090684

Humanoid arm with the integrated serial elastic actuator

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