I mentored a student over a semester, with the goal of converting my differential elastic actuator to a small, bench mounted version that would show the operating principles of the non-intuitive design. The plan is to bring this device to conferences as a learning tool. The following pictures and videos are from Peter Di Natale, the student who owned the project. For a detailed description of the theory behind the device, please see the "differential elastic actuator" project in my research tab.
Some of the project goals we came up with together:
1. Interactive: we want this device to be interactive, so there should be a handle that allows the user to feel varying levels of stiffness from our impedance controller. This also means the device must be powered.
2. Transparent: we want users to be able to see inside the device so that they are able to understand the theory behind the device in an intuitive way.
3. Measure spring deflection: in order to properly control the device, we need to inexpensively and accurately measure real-time spring deflection.
4. Compact: the device needs to be fairly small to facilitate transport.
5. Low-budget: our total budget for this benchtop demo is $500
In the end, the device works extremely well and is an effective way to explain the technology of my main project to researchers. Below are some videos of operation.
Zero Impedance Control
Spring Stiffness Emulation
