![]() Some of these forms of actuation may be seen as complementary to established actuators such as electric rotary actuators and hydraulics. New forms actuation which can deliver human scale forces and moments in lightweight and energy efficient configurations such as hydraulically amplified self-healing electrostatic (HASEL) soft actuators or other less common electrostatic-based actuators which have potential for making systems with less mass, less cost, and compatible with morphologies requiring distributed actuation are examples. The goal is to provide examples of scalable forms of actuation (size and number) which may be seen as viable options for improving the performance and efficiency of next generation robotics mechanisms. They represent a state of the art which has yet to be accepted as suitable for machines that are expected to perform as physical teammates to Soldiers in high-OPTEMPO missions.This proposal seeks to continue further and spawn new research and commercialization for forms of robotic actuation and promote a mechanism design paradigm compatible with that of open, modular software development recently being adopted within the Department of Defense and academia. There are examples of efficient and dynamic limb-based mechanisms which have been achieved through means of iterative design in which the systems mechanics and morphology are expertly matched with highly customized and optimized forms of actuation and unique electronic controllers. These forms of actuation have also been seen as limiting factors in development of machine morphologies which can replicate the degrees of freedom of human motion and human performance needed for human prosthetics and exoskeletons. We have made significant advances and demonstrations through design, fabrication methods, and controls in each of these technologies over the past several years, but they are still lacking in terms of performance, cost, and fundamental physics-based criteria for systems that are used in human-scale dynamic limb-based locomotion and whole-body manipulation. ![]() ![]() OBJECTIVE: To provide opportunity for scientific exploration of next-generation robotic and physical human augmentation performance systems and associated controls through development of actuation technologies, and the associated framework of predictive modeling.ĭESCRIPTION: Currently human-scale robots and devices employed in human-scale physical augmentation devices and prosthetics employ mostly rotary-motion electric motors or hydraulics. ![]()
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