Dataset Information

Hybrid Compliant Musculoskeletal System for Fast Actuation in Robots.

ABSTRACT: A nature-inspired musculoskeletal system is designed and developed to examine the principle of nonlinear elastic energy storage-release for robotic applications. The musculoskeletal system architecture consists of elastically rigid segments and hyperelastic soft materials to emulate rigid-soft interactions in limbless vertebrates. The objectives are to (i) improve the energy efficiency of actuation beyond that of current pure soft actuators while (ii) producing a high range of motion similar to that of soft robots but with structural stability. This paper proposes a musculoskeletal design that takes advantage of structural segmentation to increase the system's degrees of freedom, which enhances the range of motion. Our findings show that rigid-soft interactions provide a remarkable increase in energy storage and release and, thus, an increase in the undulation speed. The energy efficiency achieved is approximately 68% for bending the musculoskeletal system from the straight configuration, compared to 2.5-30% efficiency in purely soft actuators. The hybrid compliance of the musculoskeletal system under investigation shows promise for alleviating the need for actuators at each joint in a robot.

SUBMITTER: Wiersinga P

PROVIDER: S-EPMC9611504 | biostudies-literature | 2022 Oct

REPOSITORIES: biostudies-literature

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Hybrid Compliant Musculoskeletal System for Fast Actuation in Robots.

Wiersinga Pieter P Sleavin Aidan A Boom Bart B Masmeijer Thijs T Flint Spencer S Habtour Ed E

Micromachines 20221020 10

A nature-inspired musculoskeletal system is designed and developed to examine the principle of nonlinear elastic energy storage-release for robotic applications. The musculoskeletal system architecture consists of elastically rigid segments and hyperelastic soft materials to emulate rigid-soft interactions in limbless vertebrates. The objectives are to (i) improve the energy efficiency of actuation beyond that of current pure soft actuators while (ii) producing a high range of motion similar to ...[more]

PMID: 36296136

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Dataset Information

Hybrid Compliant Musculoskeletal System for Fast Actuation in Robots.

Publications

Hybrid Compliant Musculoskeletal System for Fast Actuation in Robots.

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