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—The development of robotic cognition and the advancement of understanding of human cognition form two of the current greatest challenges in robotics and neuroscience, respectively. The RobotCub project aims to develop an embodied robotic child (iCub) with the physical (height 90 cm and mass less than 23 kg) and ultimately cognitive abilities of a(More)
This paper presents the development of a new compact soft actuation unit intended to be used in multi degree of freedom and small scale robotic systems such as the child humanoid robot “iCub” [1]. Compared to the other existing series elastic linear or rotary implementations the proposed design shows high integration density and wider passive(More)
The MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) is an electric actuator of which the compliance and equilibrium position are fully independently controllable and both are set by a dedicated servomotor. In this paper an improvement of the actuator is proposed where the torque-angle curve and consequently the(More)
This article is aimed at describing a technique to compensate undesired yaw moment, which is inevitably induced about the support foot during single support phases while a bipedal robot is in motion. The main strategy in this method is to rotate the upper body in a way to exert a secondary moment that counteracts to the factors which create the undesired(More)
Haptic sensation has two complex components; skin (cutaneous) sensing which is mediated by a variety of sensing organs that respond to pressure, vibration, displacement and temperature and kinaesthetic/ proprioceptive sensing (muscles and joints) which responds to motions and forces exerted by the interaction of the body with the external environment.(More)
Full or partial loss of function in the upper limb is an increasingly common due to sports injuries, occupational injuries, spinal cord injuries, and strokes. Typically treatment for these conditions relies on manipulative physiotherapy procedures which are extremely labour intensive. Although mechanical assistive device exist for limbs this is rare for the(More)
This is a PDF file of an unedited manuscript that has been accepted for publication. As a service to our customers we are providing this early version of the manuscript. The manuscript will undergo copyediting, typesetting, and review of the resulting proof before it is published in its final form. Please note that during the production process errors may(More)
The Actuator with Adjustable Stiffness (AwAS) is an actuator which can independently control equilibrium position and stiffness by two motors. The first motor controls the equilibrium position while the second motor regulates the compliance. This paper describes the design and development of AwAS-II which is an improved version of the original realization.(More)
Pneumatic technology has been successfully applied for over two millennia. Even today, pneumatic cylinder based technology forms the keystone of many manufacturing processes where there is a need for simple, high-speed, low-cost, reliable motion. But when the system requires accurate control of position, velocity or acceleration profiles, these actuators(More)