In this section
Below is a list of all relevant publications authored by Robotics Forum members.
@article{Clark:2019:10.1109/LRA.2019.2905980,
author = {Clark, A and Rojas, N},
doi = {10.1109/LRA.2019.2905980},
journal = {IEEE Robotics and Automation Letters},
pages = {2455--2462},
title = {Assessing the performance of variable stiffness continuum structures of large diameter},
url = {http://dx.doi.org/10.1109/LRA.2019.2905980},
volume = {4},
year = {2019}
}
TY - JOUR
AB - Variable stiffness continuum structures of large diameters are suitable for high-capability robots, such as in industrial practices where high loads and human–robot interaction are expected. Existing variable stiffness technologies have focused on application as medical manipulators, and as such have been limited to small diameter designs ( $\sim$ 15 mm). Various performance metrics have been presented for continuum structures thus far, focusing on force resistance, but no universal testing methodology for continuum structures that encapsulates their overall performance has been provided. This letter presents five individual qualities that can be experimentally quantified to establish the overall performance capability of a design with respect to its use as a variable stiffness continuum manipulator. Six large diameter ( $>$ 40 mm) continuum structures are developed following both conventional (granular and layer jamming) and novel (hybrid designs and structurally supported layer jamming) approaches and are compared using the presented testing methodology. The development of the continuum structures is discussed, and a detailed insight into the tested quality selection and experimental methodology is presented. Results of experiments demonstrate the suitability of the proposed approach for assessing variable stiffness continuum capability across the design.
AU - Clark,A
AU - Rojas,N
DO - 10.1109/LRA.2019.2905980
EP - 2462
PY - 2019///
SN - 2377-3766
SP - 2455
TI - Assessing the performance of variable stiffness continuum structures of large diameter
T2 - IEEE Robotics and Automation Letters
UR - http://dx.doi.org/10.1109/LRA.2019.2905980
UR - https://ieeexplore.ieee.org/document/8668792
UR - http://hdl.handle.net/10044/1/68671
VL - 4
ER -
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