0
research-article

Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization and Testing Towards Passive Haptic Interface

[+] Author and Article Information
Mohammad Awad

Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE
mohammad.awad@ku.ac.ae

Irfan Hussain

Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE
irfan.hussain@ku.ac.ae

Dongming Gan

Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE
dongming.gan@ku.ac.ae

Ali Az-zu'bi

Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE
ali.azzubi@ku.ac.ae

Cesare Stefanini

Department of Biomedical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE
cesare.stefanini@ku.ac.ae

Kinda Khalaf

Department of Biomedical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE
kinda.khalaf@ku.ac.ae

Yahya Zweiri

Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE, Faculty of Science, Engineering and Computing, Kingston University London, London SW15 3DW, UK
y.zweiri@kingston.ac.uk

Tarek Taha

Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE
tarek.taha@ku.ac.ae

Jorge Dias

Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE, Systems and Robotics and the Faculty of Science and Technology, University of Coimbra, Coimbra, Portugal
jorge.dias@ku.ac.ae

Lakmal Seneviratne

Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE, Abu Dhabi Campus. PO Box 127788, Abu Dhabi, UAE
lakmal.seneviratne@ku.ac.ae

1Corresponding author.

ASME doi:10.1115/1.4041640 History: Received May 22, 2018; Revised September 27, 2018

Abstract

In this paper, the modeling, design and characterization of the passive Discrete Variable Stiffness Joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely controlled variable stiffness. The key motivation behind this design is the need for instantaneous switching between stiffness levels when applied for remote exploration application where stiffness mapping is required, in addition for the need of low-energy-consumption. The novelty of this work lies in the topology used to alter the stiffness of the variable stiffness joint. Altering the stiffness is achieved by selecting the effective length of an elastic cord with hook's springs. This is realized through the novel design of the Cord Grounding Unit (CGU), which is responsible for creating a new grounding point, thus changing the effective length and the involved springs. The main features of CGU are the fast response and the low-energy consumption. Two different levels of stiffness (low, high) can be discretely selected beside the zero stiffness. The proposed physical-based model matched the experimental results of the pDVSJ-II in terms of discrete stiffness variation curves, and the stiffness dependency on the behavior of the springs. Two psychophysiological tests were conducted to validate the capabilities to simulate different levels of stiffness on human user and the results showed high relative accuracy. Furthermore, a qualitative experiment in a teleoperation scenario is presented as a case study to demonstrate the effectiveness of the proposed haptic interface.

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In