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The increasing use of robots in the industry, the growing energy prices, and higher environmental awareness have driven research to find new solutions for reducing energy consumption. In additional, in most robotic tasks, energy is used to overcome the forces of gravity, but in a few industrial applications, the force of gravity is used as a source of energy. For this reason, the use of magnetic springs with actuators may reduce the energy consumption of robots performing trajectories due their high-hardness magnetic properties of energy storage. Accordingly, this paper proposes a magnetic spring configuration as an energy-storing system for a two DoF humanoid arm. Thus, an integration of the magnetic spring system in the robot is described. A control strategy is proposed to enable autonomous use. In this paper, the proposed device is modeled and analyzed with simulations as: mechanical energy consumption and kinetic energy rotational and multibody dynamics. Furthermore, a prototype was manufactured and validated experimentally. A preliminary test to check the interaction between the magnetic spring system with the mechanism and the trajectory performance was carried out. Finally, an energy consumption comparison with and without the magnetic spring is also presented.
Jhon Rodríguez-León; Ilse Cervantes; Eduardo Castillo-Castañeda; Giuseppe Carbone; Daniele Cafolla. Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm. Actuators 2021, 10, 136 .
AMA StyleJhon Rodríguez-León, Ilse Cervantes, Eduardo Castillo-Castañeda, Giuseppe Carbone, Daniele Cafolla. Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm. Actuators. 2021; 10 (6):136.
Chicago/Turabian StyleJhon Rodríguez-León; Ilse Cervantes; Eduardo Castillo-Castañeda; Giuseppe Carbone; Daniele Cafolla. 2021. "Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm." Actuators 10, no. 6: 136.
Out of all the changes to our daily life brought by the COVID-19 pandemic, one of the most significant ones has been the limited access to health services that we used to take for granted. Thus, in order to prevent temporary injuries from having lingering or permanent effects, the need for home rehabilitation device is urgent. For this reason, this paper proposes a cable-driven device for limb rehabilitation, CUBE2, with a novel end-effector (EE) design and autotuning capabilities to enable autonomous use. The proposed design is presented as an evolution of the previous CUBE design. In this paper, the proposed device is modelled and analyzed with finite element analysis. Then, a novel vision-based control strategy is described. Furthermore, a prototype has been manufactured and validated experimentally. Preliminary test to estimate home position repeatability has been carried out.
Jhon F. Rodríguez-León; Betsy D. M. Chaparro-Rico; Matteo Russo; Daniele Cafolla. An Autotuning Cable-Driven Device for Home Rehabilitation. Journal of Healthcare Engineering 2021, 2021, 1 -15.
AMA StyleJhon F. Rodríguez-León, Betsy D. M. Chaparro-Rico, Matteo Russo, Daniele Cafolla. An Autotuning Cable-Driven Device for Home Rehabilitation. Journal of Healthcare Engineering. 2021; 2021 ():1-15.
Chicago/Turabian StyleJhon F. Rodríguez-León; Betsy D. M. Chaparro-Rico; Matteo Russo; Daniele Cafolla. 2021. "An Autotuning Cable-Driven Device for Home Rehabilitation." Journal of Healthcare Engineering 2021, no. : 1-15.
This paper presents the theoretical study, design and experimental result of an original electromagnetic-spring actuator addressed for exoskeleton and/or rehabilitation applications. The proposed mechanism is designed with 2 passive magnets and an active magnet which allow store energy during the flexion and extension movements by means of the magnetic potential energy. The electromagnetic-spring actuator can control the position, speed and variable force by means of the electrical current applied to the active magnetic actuator. In this way, the actuator can be adapted to the requirements of torque according to its input signal.
Jhon Freddy Rodriguez Leon; Eduardo Morales Sanches; Eduardo Castillo Castaneda; Thompson Sarkodie-Gyan. Conceptual Design and Experimental Test of an Electromagnetic-Spring Actuator Robotic Applications. 2019 IEEE International Conference on Applied Science and Advanced Technology (iCASAT) 2019, 1 -6.
AMA StyleJhon Freddy Rodriguez Leon, Eduardo Morales Sanches, Eduardo Castillo Castaneda, Thompson Sarkodie-Gyan. Conceptual Design and Experimental Test of an Electromagnetic-Spring Actuator Robotic Applications. 2019 IEEE International Conference on Applied Science and Advanced Technology (iCASAT). 2019; ():1-6.
Chicago/Turabian StyleJhon Freddy Rodriguez Leon; Eduardo Morales Sanches; Eduardo Castillo Castaneda; Thompson Sarkodie-Gyan. 2019. "Conceptual Design and Experimental Test of an Electromagnetic-Spring Actuator Robotic Applications." 2019 IEEE International Conference on Applied Science and Advanced Technology (iCASAT) , no. : 1-6.
This paper presents a cable-driven assisting device, which has been designed and built at LARM in Cassino. Experimental tests are presented as the basis for design improvements aiming to achieve a portable user-oriented solution of the cable-driven assisting device for applications in human upper limb exercising and rehabilitation. Experimental tests are reported to show the engineering feasibility and soundness of the proposed solutions.
Jhon Freddy Rodríguez León; Giuseppe Carbone; Daniele Cafolla; Matteo Russo; Marco Ceccarelli; Eduardo Castillo Castañeda. Experiences and Design of a Cable-Driven Assisting Device for Arm Motion. Smart Structures 2018, 94 -101.
AMA StyleJhon Freddy Rodríguez León, Giuseppe Carbone, Daniele Cafolla, Matteo Russo, Marco Ceccarelli, Eduardo Castillo Castañeda. Experiences and Design of a Cable-Driven Assisting Device for Arm Motion. Smart Structures. 2018; ():94-101.
Chicago/Turabian StyleJhon Freddy Rodríguez León; Giuseppe Carbone; Daniele Cafolla; Matteo Russo; Marco Ceccarelli; Eduardo Castillo Castañeda. 2018. "Experiences and Design of a Cable-Driven Assisting Device for Arm Motion." Smart Structures , no. : 94-101.