Grant: Idea to Innovation

Conventional rigid design of robotic joints limits the use of industrial robots to precise positioning tasks in controlled, known areas without the presence of human operators. Actuators designed for interaction are required to make robots safe operating in open and dynamic conditions ranging from working in the vicinity and together with humans to versatile, force-controlled operations on highly-skilled tasks like polishing. Our Dual Differential Rheological Actuator (DDRA) combines unique characteristics making it suitable for both high performance motion and safe and versatile interaction. DDRA uses 2 magnetorheological (MR) brakes and 2 mechanical differentials to transform the output of an electromagnetic motor into a precise (no backlash), open loop (sensorless) controllable, torque source. It provides a suitable torque to weight ratio, a large torque bandwidth and exceptionally low output inertia, enabling stable and easily controllable robotic interactions. A fully integrated prototype has been designed and tested, demonstrating DDRA's feasibility and unique capabilities, and led to a PCT Patent application. To demonstrate DDRA in interactive robotic applications, the objective of this project is to develop an enhanced prototype with higher torque density and capacity, that could compete and surpass conventional actuators in terms of dynamic and safety, and that could be produced at low cost. Actuators for 'soft robotics' applications is a new area of activities, targeting simple and safe interaction control capabilities (with still very high, even improved, performances in position control), addressing needs shared by large but also small and medium enterprises (which have less resources, produce lower volumes and require frequent adaptation of their production lines). With a team of university and college researchers, technology transfer officers and business students, we will use the experimental knowledge gained in this project to approach partners (robot manufacturers, integrators, end-users), for the exploitation of DDRA into industrial robot applications.