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Part 1: Document Description
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Citation |
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Title: |
Technical specifications and details of the muscle-driven biorobotic arm ATARO |
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Identification Number: |
doi:10.18419/darus-3813 |
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Distributor: |
DaRUS |
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Date of Distribution: |
2024-01-16 |
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Version: |
1 |
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Bibliographic Citation: |
Nadler, Tobias; Wolfen, Simon; Häufle, Daniel F. B.; Schmitt, Syn, 2024, "Technical specifications and details of the muscle-driven biorobotic arm ATARO", https://doi.org/10.18419/darus-3813, DaRUS, V1 |
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Citation |
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Title: |
Technical specifications and details of the muscle-driven biorobotic arm ATARO |
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Identification Number: |
doi:10.18419/darus-3813 |
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Authoring Entity: |
Nadler, Tobias (Universität Stuttgart) |
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Wolfen, Simon (Universität Stuttgart) |
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Häufle, Daniel F. B. (Universität Heidelberg; Universität Tübingen) |
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Schmitt, Syn (Universität Stuttgart) |
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Grant Number: |
Az: 33-7533.-30-20/7/2 |
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Grant Number: |
EXC 2075 - 390740016 |
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Grant Number: |
EXC 310 - 50131014 |
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Distributor: |
DaRUS |
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Access Authority: |
Nadler, Tobias |
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Access Authority: |
Schmitt, Syn |
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Depositor: |
Nadler, Tobias |
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Date of Deposit: |
2023-11-28 |
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Holdings Information: |
https://doi.org/10.18419/darus-3813 |
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Study Scope |
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Keywords: |
Engineering, Mathematical Sciences, Medicine, Health and Life Sciences, Physics, Pneumatic Artificial Muscle, FESTO Muscle, Biorobot, Robotic Arm Model |
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Topic Classification: |
Biomechanics, Robotics |
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Abstract: |
ATARO is a bio-inspired arm robot with two degrees of freedom. Five artificial muscle-spring units (MSUs) are used for actuation. The MSUs, each consisting of a pneumatic artificial muscle (PAM) and a spring in series, mimic the characteristics of the human muscle-tendon complex. Five proportional control valves actuate the PAMs. To mimic biological proprioception, a force sensor and a length sensor in each muscle, and an angle sensor in each joint are used. A computer with an I/O board is used to control the arm robot in a real-time hardware-in-the-loop setup. The controller is implemented using Matlab 2016b®/Simulink®. This dataset entails detailed technical specifications and exemplary videos showing different movement patterns derived from bio-inspired control concepts. |
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Methodology and Processing |
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Sources Statement |
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Data Access |
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Other Study Description Materials |
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Related Publications |
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Citation |
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Title: |
Driess, D., Zimmermann, H., Wolfen, S., Suissa, D., Haeufle, D., Hennes, D., Toussaint, M. & Schmitt, S. (2018, May). Learning to control redundant musculoskeletal systems with neural networks and SQP: exploiting muscle properties. In 2018 IEEE International Conference on robotics and automation (ICRA) (pp. 6461-6468). IEEE. |
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Identification Number: |
10.1109/ICRA.2018.8463160 |
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Bibliographic Citation: |
Driess, D., Zimmermann, H., Wolfen, S., Suissa, D., Haeufle, D., Hennes, D., Toussaint, M. & Schmitt, S. (2018, May). Learning to control redundant musculoskeletal systems with neural networks and SQP: exploiting muscle properties. In 2018 IEEE International Conference on robotics and automation (ICRA) (pp. 6461-6468). IEEE. |
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Citation |
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Title: |
Wolfen, S. Control framework for muscle-driven systems: Exploiting bi-articular muscles in antagonistic setups to reduce control complexity and solve the muscle redundancy problem. University of Stuttgart, (CBB-002-2022), 2022. |
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Identification Number: |
10.18419/opus-13846 |
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Bibliographic Citation: |
Wolfen, S. Control framework for muscle-driven systems: Exploiting bi-articular muscles in antagonistic setups to reduce control complexity and solve the muscle redundancy problem. University of Stuttgart, (CBB-002-2022), 2022. |
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Label: |
Active compliance.mov |
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Text: |
Active compliance |
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Notes: |
video/quicktime |
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Ball contact.mov |
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Text: |
Ball contact |
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Notes: |
video/quicktime |
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Electronic supplementary material Ataro.pdf |
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Notes: |
application/pdf |
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Finger following.mov |
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Text: |
Finger following |
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Notes: |
video/quicktime |
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Label: |
Point-to-point reaching.mov |
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Text: |
Point-to-point reaching |
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Notes: |
video/quicktime |