Accessibility navigation

Design of redundant drive joint with adjustable stiffness and damping mechanism to improve joint admittance

Ikegami, Y., Nagai, K., Loureiro, R.C.V. and Harwin, W.S. ORCID: (2009) Design of redundant drive joint with adjustable stiffness and damping mechanism to improve joint admittance. In: 2009 IEEE 11th international conference on rehabilitation robotics. International conference on rehabilitation robotics ICORR , 1 & 2. IEEE, New York, pp. 234-242. ISBN 9781424437887

Full text not archived in this repository.

It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing.

To link to this item DOI: 10.1109/ICORR.2009.5209474


Improving admittance of robotic joints is the key issue for making rehabilitation robots safe. This paper describes a design of Redundant Drive Joint (RD-Joint) which allows greater flexibility in the design of robotic mechanisms. The design strategy of the RD-Joint employs a systematic approach which consists of 1) adopting a redundant joint mechanism with internal kinematical redundancy to reduce effective joint inertia, and 2) adopting an adjustable admittance mechanism with a novel Cross link Reduction Mechanism and mechanical springs and dampers as a passive second actuator. First, the basic concepts used to construct the redundant drive joint mechanism are explained, in particular the method that allows a reduction in effective inertia at the output joint. The basic structure of the RD-Joint is introduced based on the idea of reduced inertia along with a method to include effective stiffness and damping. Then, the basic design of the adjustable admittance mechanism is described. Finally, a prototype of RD-joint is described and its expected characteristics are discussed.

Item Type:Book or Report Section
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:14407
Additional Information:11th IEEE International Conference on Rehabilitation Robotics Kyoto, JAPAN 23-26 Jun 2009

University Staff: Request a correction | Centaur Editors: Update this record

Page navigation