Speakers and Agenda:
The workshop consists of 4 sessions. It reaches from research on understanding actuation mechanism in biological locomotor systems to application of the bioinspired actuators on robots and assistive devices as follows:
Session 1: Recent research on biological actuation – what can we learn from biology?
In this session, we want to address the advantages of biological locomotor systems’ actuation, i.e., muscle mechanics and neuromuscular control.
The potential presentations are as follows:
1) Dynamical muscle behaviours (Christian Rode, Friedrich Scheller Universität Jena)
2) From spiking motor neurons to joint mechanics: perspectives for human-machine interaction (Massimo Sartori, University of Twente)
3) Resolving redundancies in human motor control at kinematic, motor, and neural level – biomechanical concepts and applications (Andre Seyfarth, TU Darmstadt)
Session 2: Variable impedance actuators and parallel compliance
In this session, we discuss how parallel compliance and the bio-inspired concept of variable stiffness can be implemented in actuators. Both mechanical design (passive compliance) and control (active compliance) are addressed.
1) Minimalistic design for compliant multi-DOF actuation (Heike Valery, TU Delft)
2) Lightweight, low-power electroadhesive clutches for biorobotic actuation (Steve Collins, Stanford University)
3) Elastic actuation in robotics and control (Sami Haddadin, Technische Universität München)
Session 3: State of the art of engineered actuators approaching muscle behaviours
In this session, we present an overview about the attempts to develop muscle-like actuators in engineering. We discuss how redundancy and morphology (e.g., using biarticular actuators) can enhance actuation performance.
1) Muscles are more than just force sources: examining system dynamics of muscle-like actuators (Joshua Schultz, University of Tulsa)
2) Attempts to develop artificial muscles (Koh Hosoda, Osaka University).
3) Hybrid actuator and redundancy to mimic biological locomotor actuation behaviour and improve energy efficiency (Maziar Sharbafi, TU Darmstadt & Tom Verstraten, Vrije Universiteit Brussel)
Session 4: Application of bioinspired actuators in robots and assistive devices.
And finally, we address the advantages of these actuation mechanisms in design and control of human friendly robots and assistive devices such as prostheses and exo skeletons:
1) Compliant actuation principles for rehabilitation and assistive robots (Dirk Lefeber, Vrije Universiteit Brussel).
2) Implementation of explosive compliant actuation in the AMPfoot prosthesis (Pierre Cherelle, Vrije Universiteit Brussel)
3) A parallel-elastic actuator for the Robo-Mate back-support exoskeleton (Stefano Toxiri, Istituto Italiano di Tecnologia (IIT))