STIFF

Enhancing biomorphic agility through variable stiffness

 Coordinatore DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV 

 Organization address city: Wessling
postcode: 82234

contact info
Titolo: Ms.
Nome: Gudrun
Cognome: Holtmanns
Email: send email
Telefono: -290739
Fax: -289957

 Nazionalità Coordinatore Germany [DE]
 Totale costo 3˙890˙520 €
 EC contributo 2˙953˙710 €
 Programma FP7-ICT
Specific Programme "Cooperation": Information and communication technologies
 Code Call FP7-ICT-2007-3
 Funding Scheme CP
 Anno di inizio 2009
 Periodo (anno-mese-giorno) 2009-01-01   -   2011-12-31

 Partecipanti

# participant  country  role  EC contrib. [€] 
1    DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV

 Organization address city: Wessling
postcode: 82234

contact info
Titolo: Ms.
Nome: Gudrun
Cognome: Holtmanns
Email: send email
Telefono: -290739
Fax: -289957

DE (Wessling) coordinator 0.00
2    CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE

 Organization address address: Rue Michel -Ange
city: PARIS
postcode: 75794

contact info
Nome: N/A
Cognome: N/A
Email: send email
Telefono: +00 0 000000

FR (PARIS) participant 0.00
3    SCUOLA UNIVERSITARIA PROFESSIONALE DELLA SVIZZERA ITALIANA (SUPSI)

 Organization address address: RESIDENZA GOVERNATIVA
city: BELLINZONA
postcode: 6501

contact info
Titolo: Prof.
Nome: Carlo
Cognome: Lepori
Email: send email
Telefono: -7355
Fax: -7344

CH (BELLINZONA) participant 0.00
4    TECHNISCHE UNIVERSITEIT DELFT

 Organization address address: Stevinweg
city: DELFT
postcode: 2628 CN

contact info
Titolo: Prof.
Nome: Frans C.T.
Cognome: van der Helm
Email: send email
Telefono: -2785600
Fax: -2784701

NL (DELFT) participant 0.00
5    THE UNIVERSITY OF EDINBURGH

 Organization address address: Old College, South Bridge
city: EDINBURGH
postcode: EH8 9YL

contact info
Titolo: Mr.
Nome: Gordon
Cognome: Marshall
Email: send email
Telefono: +44-131-651 4386
Fax: +44-131-650 9023

UK (EDINBURGH) participant 0.00
6    UNIVERSITE PARIS DESCARTES

 Organization address address: Rue de l'Ecole de Medecine
city: PARIS
postcode: 75270

contact info
Titolo: Dr.
Nome: Joseph
Cognome: McIntyre
Email: send email
Telefono: 33142863388
Fax: 33142863399

FR (PARIS) participant 0.00
7    UNIVERSITE PARIS DIDEROT - PARIS 7

 Organization address address: RUE THOMAS MANN
city: PARIS
postcode: 75205

contact info
Nome: N/A
Cognome: N/A
Email: send email
Telefono: +00 0 000000

FR (PARIS) participant 0.00

Mappa


 Word cloud

Esplora la "nuvola delle parole (Word Cloud) per avere un'idea di massima del progetto.

robotic    robot    force    impedance    stiffness    human    techniques    arm   

 Obiettivo del progetto (Objective)

The goal of the proposed study is to equip a highly biomimetic robot hand-arm system with the agility, robustness and versatility that are hallmarks of the human motor system by understanding and mimicking the variable stiffness paradigms that are so effectively employed by the human CNS. A key component of the study will be the anatomically accurate musculoskeletal modelling of the human arm and hand. The project will develop novel methodologies to comprehend how the human arm can adapt its impedance, e.g. by changing the co-contraction level or by adapting the reflex gains. The impedance of the arm and of the hand will be investigated using powerful robot manipulators capable of imposing force perturbations. The existing closed-loop system identification techniques will be extended with non-linear time-variant techniques which can identify the behaviour during reaching and grasping tasks. The grasp force modulation and hand muscle activity correlations will be learned for use on the robotic system. Finally, optimization techniques gleaned and validated on the detailed biophysical model will be transferred to the variable impedance actuation of the novel biomorphic robotic system The central question that this proposal focuses on for both the human and robotic arm is: how is stiffness used to enhance performance?; and this project represents one of the first attempts where targeted modelling studies will go the full circle by exploiting these results for optimal control of an embodied, high dimensional, variable impedance robotic system.

Altri progetti dello stesso programma (FP7-ICT)

FINE (2010)

Free-viewpoint Immersive Networked Experience

Read More  

E-STARS (2008)

Efficient Smart sysTems with enhAnced eneRgy Storage

Read More  

SEMIDEC (2009)

Stimulating Semiconductor Design Cooperation between Europe and Russia

Read More