DEA

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ADE : Actionneur Différentiel-Élastique / DEA: Differential Elastic Actuator (Patent pending)

Contents

Description

The implementation of machines able to precisely control interaction with its environment begins with the use of actuators specially designed for that purpose. To that effect, a new compact implementation design for high performance actuators that are especially adapted for integration in robotic mechanisms has been developed. This design makes use of a mechanical differential as central element. Differential coupling between an intrinsically high impedance transducer and an intrinsically low impedance spring element provides the same benefits as serial coupling. However differential coupling allows new interesting design implementations possibilities, especially for rotational actuators.

ADETaxonomy.jpgADEAdvantages.jpg

ADEMechanism.jpgADEPhoto.jpg

Videos

Video showing our 3DOF arm using three Differential Elastic Actuators (in english)

Video of a gravity compensation experiment with one Differential Elastic Actuator (in french)

Patents

Publications

  1. Ferland, F., Létourneau, D., Aumont, A., Frémy, J, Legault, M.-A., Lauria, M., Michaud, F. (2012), "Natural interaction design of a humanoid robot," Journal of Human-Robot Interaction, 1 (2), 118-134, [1].
  2. Fremy, J. (2011), Contrôle en force sécuritaire d'une plateforme omnidirectionnelle non-holonome, Mémoire de maîtrise, Département de génie électrique et de génie informatique, Université de Sherbrooke. (pdf)
  3. Frémy, J., Ferland, F., Clavien, L., Létourneau, D., Michaud, F., Lauria, M. (2010), “Force-controlled motion of a mobile platform,” IEEE/RSJ International Conference on Intelligent Robots and Systems. (pdf) (m4v)
  4. Ferland, F., Clavien, L., Frémy, J., Létourneau, D., Michaud, F., Lauria, M. (2010), “Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels,” IEEE/RSJ International Conference on Intelligent Robots and Systems. (pdf) (m4v)
  5. Lavoie, M.-A., , Développement et contrôle d'un bras robotique basé sur l'actionneur différentiel élastique, Mémoire de maîtrise, Département de génie mécanique, Unviersité de Sherbrooke. (pdf)
  6. Lauria, M., Legault, M.-A., Lavoie, M.-A., Michaud, F. (2008) “Differential elastic actuator for robotic interaction tasks,” Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, USA. (pdf)
  7. Lauria, M., Fauteux, Ph., Legault, M.-A., Lavoie, M.-A., Michaud, F. (2008) “Differential elastic actuator for robotic interaction tasks,” in Proceedings of Actuator 2008, 11th International Conference on New Actuators, Bremen, Germany. (pdf)
  8. Lauria, M., Legault, M.-A., Lavoie, M.-A., Giguère P., Gagnon, F., Michaud, F., «High Performance Differential Actuator for Robotic Interaction Tasks», United States Patent Application number 694123, March 31, 2007.
  9. Legault, M.-A. (2007), "Développement d’un actionneur différentiel élastique", Mémoire de maîtrise, Département de génie mécanique, Université de Sherbrooke, mars. (pdf)
  10. Lauria, M., Legault, M.-A., Michaud, F., (2007), “High performance differential elastic actuator for robotic interaction tasks”, Proceedings American Association for Artificial Intelligence Spring Symposium on Multidisciplinary Collaboration for Socially Assistive Robotics, Stanford, March. (pdf)

Équipe / Team

  • Silvan Widmer
  • Marc-Antoine Legault
  • Marc-André Lavoie
  • Philippe Fauteux
  • Matthieu Tanguay
  • Michel Lauria
  • François Michaud

See Also

Similar project in Japan and at Willow Garage