Robotics Actuator
Bio-Inspired Robotic Compliance through Series Elastic Actuation.
Industrial robots remain rigid and hazardous in human environments. Traditional actuators lack the nuanced compliance of biological systems, leading to high energy costs and safety risks. Industrial robots remain rigid and hazardous in human environments. Traditional actuators lack the nuanced compliance of biological systems, leading to high energy costs and safety risks.
Project Type:
IIT, Research Project
Year:
2022
The Challenge
Design a safer, energy-efficient robotic manipulator mimicking human muscle biomechanics for collaborative robotics (cobotics).
Bio-Mimetic Actuation
Replicated SEC/PEC muscle architecture from human and equine biomechanics
Energy Efficiency
Designed clutch mechanism to engage/disengage PEC, resulting in 40% energy saving
Safety Compliance
Integrated force/torque sensors with ROS-based control
Real-World Validation
Conducted payload tests (0.5-5kg) in varied environments
Process Gallery:
Biomechanical Analysis:
Studied SEC/PEC roles in human/gait movement
Translated muscle force-velocity curves into actuator specs
Iterative Prototyping:
14 actuator concepts → 4 validated via ANSYS simulations
Final design: Belt-driven SEA with remote cable joints
Validation:
ISO 15066 compliance testing for cobot safety
200+ hours of payload testing (0.5-5kg range)
Research & Discovery
Impact
Safety: 30% faster emergency stop response vs. industry standards
Efficiency: 2.3x torque consistency under variable loads
Scalability: Unique 360 degree motion range
Academic Contribution: 2 publishable findings on SEC/PEC robotics
