2026-09-19T20:56:45Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/179512022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Cynthia Breazeal.
McBean, John M. (John Michael), 1979-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2005-06-02T19:18:39Z
2005-06-02T19:18:39Z
2004
2004
http://hdl.handle.net/1721.1/17951
56842795
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
Includes bibliographical references (leaf 68).
The growing field of human-robot interaction (HRI) demands robots that move fluidly, gracefully, compliantly and safely. This thesis describes recent work in the design and evaluation of long-travel voice coil actuators (VCAs) for use in robots intended for interacting with people. The basic advantages and shortcomings of electromagnetic actuators are discussed and evaluated in the context of human-robot interaction, and are compared to alternative actuation technologies. Voice coil actuators have been chosen for their controllability, ease of implementation, geometry, compliance, biomimetic actuation characteristics, safety, quietness, and high power density. Several VCAs were designed, constructed, and tested, and a 4 Degree of Freedom (DOF) robotic arm was built as a test platform for the actuators themselves, and the control systems used to drive them. Several control systems were developed and implemented that, when used with the actuators, enable smooth, fast, life-like motion.
by John M. McBean.
S.M.
68 leaves
4203001 bytes
4202807 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design and control of a voice coil actuated robot arm for human-robot interaction
Thesis
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