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 applications 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 besides 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.
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February 2019
Research-Article
Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface
Mohammad I. Awad,
Mohammad I. Awad
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: mohammad.awad@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: mohammad.awad@ku.ac.ae
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Irfan Hussain,
Irfan Hussain
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: irfan.hussain@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: irfan.hussain@ku.ac.ae
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Dongming Gan,
Dongming Gan
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: dongming.gan@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: dongming.gan@ku.ac.ae
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Ali Az-zu'bi,
Ali Az-zu'bi
Mem. ASME
Department of Mechanical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi,
e-mail: ali.azzubi@ku.ac.ae
Department of Mechanical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi,
United Arab Emirates
e-mail: ali.azzubi@ku.ac.ae
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Cesare Stefanini,
Cesare Stefanini
Mem. ASME
Department of Biomedical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi,
e-mail: cesare.stefanini@ku.ac.ae
Department of Biomedical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi,
United Arab Emirates
e-mail: cesare.stefanini@ku.ac.ae
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Kinda Khalaf,
Kinda Khalaf
Mem. ASME
Department of Biomedical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: kinda.khalaf@ku.ac.ae
Department of Biomedical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: kinda.khalaf@ku.ac.ae
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Yahya Zweiri,
Yahya Zweiri
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates;
Faculty of Science, Engineering and Computing,
Kingston University London,
London SW15 3DW, UK
e-mail: y.zweiri@kingston.ac.uk
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates;
Faculty of Science, Engineering and Computing,
Kingston University London,
London SW15 3DW, UK
e-mail: y.zweiri@kingston.ac.uk
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Tarek Taha,
Tarek Taha
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: tarek.taha@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: tarek.taha@ku.ac.ae
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Jorge Dias,
Jorge Dias
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates;
Systems and Robotics and the Faculty of Science
and Technology,
University of Coimbra,
Coimbra 3004-531, Portugal
e-mail: jorge.dias@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates;
Systems and Robotics and the Faculty of Science
and Technology,
University of Coimbra,
Coimbra 3004-531, Portugal
e-mail: jorge.dias@ku.ac.ae
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Lakmal Seneviratne
Lakmal Seneviratne
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: lakmal.seneviratne@ku.ac.ae
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: lakmal.seneviratne@ku.ac.ae
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Mohammad I. Awad
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: mohammad.awad@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: mohammad.awad@ku.ac.ae
Irfan Hussain
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: irfan.hussain@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: irfan.hussain@ku.ac.ae
Dongming Gan
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: dongming.gan@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: dongming.gan@ku.ac.ae
Ali Az-zu'bi
Mem. ASME
Department of Mechanical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi,
e-mail: ali.azzubi@ku.ac.ae
Department of Mechanical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi,
United Arab Emirates
e-mail: ali.azzubi@ku.ac.ae
Cesare Stefanini
Mem. ASME
Department of Biomedical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi,
e-mail: cesare.stefanini@ku.ac.ae
Department of Biomedical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi,
United Arab Emirates
e-mail: cesare.stefanini@ku.ac.ae
Kinda Khalaf
Mem. ASME
Department of Biomedical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: kinda.khalaf@ku.ac.ae
Department of Biomedical Engineering,
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: kinda.khalaf@ku.ac.ae
Yahya Zweiri
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates;
Faculty of Science, Engineering and Computing,
Kingston University London,
London SW15 3DW, UK
e-mail: y.zweiri@kingston.ac.uk
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates;
Faculty of Science, Engineering and Computing,
Kingston University London,
London SW15 3DW, UK
e-mail: y.zweiri@kingston.ac.uk
Tarek Taha
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: tarek.taha@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: tarek.taha@ku.ac.ae
Jorge Dias
Mem. ASME
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates;
Systems and Robotics and the Faculty of Science
and Technology,
University of Coimbra,
Coimbra 3004-531, Portugal
e-mail: jorge.dias@ku.ac.ae
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates;
Systems and Robotics and the Faculty of Science
and Technology,
University of Coimbra,
Coimbra 3004-531, Portugal
e-mail: jorge.dias@ku.ac.ae
Lakmal Seneviratne
Khalifa University Center for
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: lakmal.seneviratne@ku.ac.ae
Autonomous Robotic Systems (KUCARS),
Khalifa University of Science and Technology,
Abu Dhabi Campus,
P.O. Box 127788,
Abu Dhabi, United Arab Emirates
e-mail: lakmal.seneviratne@ku.ac.ae
1Corresponding authors.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 22, 2018; final manuscript received September 27, 2018; published online November 12, 2018. Assoc. Editor: Veronica J. Santos.
J. Mechanisms Robotics. Feb 2019, 11(1): 011005 (14 pages)
Published Online: November 12, 2018
Article history
Received:
May 22, 2018
Revised:
September 27, 2018
Citation
Awad, M. I., Hussain, I., Gan, D., Az-zu'bi, A., Stefanini, C., Khalaf, K., Zweiri, Y., Taha, T., Dias, J., and Seneviratne, L. (November 12, 2018). "Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface." ASME. J. Mechanisms Robotics. February 2019; 11(1): 011005. https://doi.org/10.1115/1.4041640
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