Variable compliance actuators

Dr. Amir Jafari, ETH Zurich, Switzerland

Abstract

The first types of robotic actuators that were introduced into our lives were in the industrial sector. These robots can perform many tasks but only in controlled/known environments where they are away from humans. However, due to their various capabilities, we would like to have them closer to us. Obviously in this case, we need different technologies than those developed for industrial robots since their adaptability in unknown environments (where humans are involved) is very limited. Actuators as the core of the robot’s structure are one of the vital elements of this desire technology.

In this lecture the required technology for the new generation of soft actuators will be introduced. I will talk about the role of compliance and its adjustability in different applications, e.g. locomotion, rehabilitation, where safety and energy efficiency are important issues.

In particular I will explain some essential criteria that have to be considered in the designing of variable compliance actuators. Most of the mechanisms which have been developed so far will be discussed/compared on the basis of these criteria.

Lecture slides