@inproceedings{40839e33bdd842efb57e930f978c87a1,
title = "A Spring-Aided Two-Dimensional Electromechanical Spine Architecture for Bio-Inspired Robots",
abstract = "This paper presents a distributed six-link two-dimensional electromechanical actuator that emulates a biological spine. The gearless actuator is made by stacking modules of E-shaped cores along with integrated springs. A coil excitation induces magnetic flux in the core, which produces electromechanical force in the air gap between two adjacent cores. The proposed actuator is driven by dc-dc converters with current control. Electromechanical force analysis for the proposed spine architecture with different air-gap distances and spring analysis that improve the actuator's performance are discussed. Experimental results show different biological motions with a prototype design. The prototype can produce a maximum torque of 1.4 N-m.",
author = "Bonhyun Ku and Sunyu Wang and Arijit Banerjee",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference date: 03-11-2019 Through 08-11-2019",
year = "2019",
month = nov,
doi = "10.1109/IROS40897.2019.8967757",
language = "English (US)",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "793--798",
booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019",
address = "United States",
}