Learn More
This paper presents design and performance of a novel joint based actuator for a robot run by variable stiffness actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle(More)
In this article, we performed an analysis of the dependability of an elementary yet critical robot component, i.e., the joint-level actuation subsystem. We consider robot actuators that implement the VSA paradigm, i.e., ability to change the effective transmission stiffness during motion to achieve high performance while constantly keeping injury risks by(More)
In this paper we introduce an analysis of dependability of an elementary yet critical component of robotic systems designed to operate in environments shared with humans, i.e., the joint-level actuation system. We consider robot joints that implement the variable impedance actuation (VIA) paradigm. The VIA has been demonstrated to be an effective mean to(More)
The paper presents an application of Interval method to solve the inverse kinematics of a serially connected redundant manipulator, aiming its use in design optimization of manipulators. The article attempts to solve inverse kinematics, when the lengths of the links of the manipulator are not precisely known. The sources of uncertainties include(More)
  • Soumen Sen
  • 2011 IEEE International Conference on Robotics…
  • 2011
Muscular actions in the biological world are associated with stiffness/impedance variation in a wide range depending upon the need of the task. Again, in artificial world variable-stiffness-actuation finds applications in areas like legged machines, artificial prostheses, vibration control, automotive suspension, and compliant robots etc. Nonlinear(More)
Traditionally underwater vehicles use thrusters as propulsion devices and achieve high speed. These thrusters come with their own limitations such as turbulence, cavitations etc. resulting into low efficiency and noise; the vehicles severely suffer from lack of efficiency in low speed operations. Maneuverability of vehicles using thrusters or jet propulsion(More)
Nonlinear elasticity of transmission is indispensable in any passively variable stiffness mechanism. However, it remains obscure how to decide a desired nonlinear force-displacement function. On the other hand biological muscular actions are associated with stiffness/impedance variation in a wide range as demanded by everyday tasks. This paper addresses the(More)
Use of flexible joints in robotic system is the recent trend in applications involving physical human robot interaction. A compliant transmission introduces the flexibility for intrinsically safe robots, whereas the ability to vary Impedance recovers some of the lost performance due to presence of compliance. Stiffness/impedance variability needs presence(More)