Tom Verstraten

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In recent years, many works have appeared, which present novel mechanical designs, control strategies, or trajectory planning algorithms for improved energy efficiency. The actuator model is an essential part of these works, since the optimization of energy consumption strongly depends of the accuracy of this model. Nevertheless, various authors follow very(More)
Series-Parallel Elastic Actuators (SPEA) enable variable recruitment of parallel springs and variable load cancellation. In previous work, we validated a MACCEPA-based SPEA prototype with a self-closing intermittent mechanism, to reduce motor load and improve energy efficiency. However, the mechanism only allowed for 4 parallel springs and a limited(More)
Modern actuation schematics become increasingly ingenious by deploying springs and locking mechanisms in series and/or parallel. Many of these solutions are, however, tailored for a specific application and a general schematic that allows for drastic energy reduction remains a challenge. We have developed a series-parallel elastic actuator (SPEA) based on a(More)
Natural organisms have a unique property not yet available in robotics, i.e., a self-healing (SH) ability. This powerful biological healing function has inspired chemists to impart similar properties to synthetic materials to create “SH materials.” Recent developments in SH polymers led us to investigate the potential of using these materials(More)
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