Pneumatic actuation-based bidirectional modules with variable stiffness and closed-loop position control
Yaohui Chen Hoam Chung Bernard Chen Ho Yi Ping Yonghang Sun Yaohui Chen Hoam Chung Bernard Chen Ho Yi Ping Yonghang Sun
This paper extends our previous work on a pneumatic bending module and presents two more modules for rotational and translational motions. In these modules, antagonistic chambers enveloped by rigid shells are adopted to realize bidirectional actuation, and they are characterized by safe actuation, enhanced torque/force output, independent stiffness tuning, and real-time position control. Due to th...