Robotics: Science and Systems V

Cellular muscle actuators with variable resonant frequencies

T. W. Secord and H. H. Asada


This paper presents the design and analysis of a novel variable stiffness and variable resonance actuator based on a cellular arrangement of piezoelectric devices. The cellular muscle actuator design concept is presented followed by a general dynamic model for establishing the theoretical bounds on achievable resonant frequencies. A model that is specific to the proposed design is then formulated to include the effects of parasitic dynamics. The resonance characteristics of a three cell prototype system are identified experimentally. The theoretical model and experimental results agree over a large frequency range and illustrate the variable resonance concept.



    AUTHOR    = {T. W. Secord AND H. H. Asada},
    TITLE     = {Cellular muscle actuators with variable resonant frequencies},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2009},
    ADDRESS   = {Seattle, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2009.V.032}