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STIFF

Project ID: 231576
Funded under

Enhancing biomorphic agility through variable stiffness

From 2009-01-01 to 2011-12-31, closed project | STIFF Website

Project details

Total cost:

EUR 3 890 520

EU contribution:

EUR 2 953 710

Coordinated in:

Germany

Call for proposal:

FP7-ICT-2007-3See other projects for this call

Funding scheme:

CP - Collaborative project (generic)

Description

Endowing a highly biomimetic robot hand-arm system with the agility, robustness and versatility of the human motor system
The goal of <a href="http://stiff-project.eu/" target="_blank">STiFF</a> 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 models that are so effectively employed by the human central nervous system. The project will develop novel methodologies to comprehend how the human arm can adapt. The central question that this project focuses on for both the human and robotic arm is: how is stiffness used to enhance performance?

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.

Related information

Documents and Publications

Coordinator contact

Patrick VAN DER SMAGT, (Project Coordinator)
Tel.: +49 8153 281152
Fax: +49 8153 281134
E-mail

Coordinator

DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV
Germany

EU contribution: EUR 913 027


Münchener Str. 20
82234 Wessling
Germany
Activity type: Research Organisations
Administrative contact: Gudrun Holtmanns
Tel.: +49-8153-282635
Fax: +49-8153-281853
E-mail

Participants

SCUOLA UNIVERSITARIA PROFESSIONALE DELLA SVIZZERA ITALIANA (SUPSI)
Switzerland

EU contribution: EUR 371 912


RESIDENZA GOVERNATIVA
6501 BELLINZONA
Switzerland
Activity type: Higher or Secondary Education Establishments
Administrative contact: Carlo Lepori
Tel.: +41-58- 666-6672
Fax: +41-58-666-6661
E-mail
UNIVERSITE PARIS DESCARTES
France

EU contribution: EUR 500 522


Rue de l'Ecole de Medecine
75270 PARIS
France
Activity type: Higher or Secondary Education Establishments
Administrative contact: Joseph McIntyre
Tel.: +33142863388
Fax: +33142863399
E-mail
TECHNISCHE UNIVERSITEIT DELFT
Netherlands

EU contribution: EUR 558 693


Stevinweg
2628 CN DELFT
Netherlands
Activity type: Higher or Secondary Education Establishments
Administrative contact: Frans C.T. van der Helm
Tel.: +31-15-2785616
Fax: +31-15-2784717
E-mail
THE UNIVERSITY OF EDINBURGH
United Kingdom

EU contribution: EUR 609 556


Old College, South Bridge
EH8 9YL EDINBURGH
United Kingdom
Activity type: Higher or Secondary Education Establishments
Administrative contact: Gordon Marshall
Tel.: +44-131-651 4386
Fax: +44-131-650 9023
E-mail
UNIVERSITE PARIS DIDEROT - PARIS 7
France

EU contribution: EUR 0


RUE THOMAS MANN
75205 PARIS
France
Activity type: Higher or Secondary Education Establishments
Administrative contact: N/A N/A
Tel.: +00 0 000000
E-mail
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE
France

EU contribution: EUR 0


Rue Michel -Ange
75794 PARIS
France
Activity type: Research Organisations
Administrative contact: N/A N/A
Tel.: +00 0 000000
E-mail
Record Number: 89248 / Last updated on: 2016-04-01