The Multibody Mechanics Group of the Department of Mechanical Engineering at the
Vrije Universiteit Brussel (VUB) started its research activities on computer-aided
analysis of rigid and flexible mechanical systems in 1990.
Its main research is focused on kinematical and dynamical simulations and on the
development and use of new actuators as well as on the control of mechanical systems.
A new type of pneumatic actuator was developed by our group.
Today, research is focused on the fabrication and application of the Pleated Pneumatic Artificial
Muscle, as it was called.
brochure (pdf, 1.4MB) about our PPAM and what we do with it
The goal of this project is to create a lightweight biped which is able to walk in a dynamical stable way.
A robot arm, driven by PPAM's is developed in this project.
The arm is characterized by a high payload to weight ratio and an intrinsic compliant behavior.
The MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) is a straightforward and easy to construct rotational actuator, of which the compliance can be controlled separately from the equilibrium position.
Fast dynamic simulations of mechanical systems are achieved using canonical momenta. Click on the link to view some examples.
In this research, trajectories for dynamically stable walking / running are being generated from
objective parameters such as step length and motion speed.
The goal of this project is to develop an intelligent transtibial prosthesis, using the Pleated Pneumatic Artificial Muscles.
The ALTACRO project is situated in the new and emerging field of
medical rehabilitation robotics. ALTACRO stands for Automated Locomotion Training using an Actuated Compliant Robotic Orthosis. This project focuses on the design, construction and testing of a step rehabilitation robot for patients suffering from gait disorders. The key innovation in this project is the use of actuators with adaptable compliance.
The goal of this project is to create a intelligent huggy robot to study cognitive human-robot interaction, especially with children. Probo is an intelligent robot that interacts with long-term hospitalised children. Its goal is to entertain those children and help them bear their stay at the hospital. At this moment a first prototype is ready.
The development of a smart powered elbow orthosis driven by actuators with inherent and online adaptable compliance: MACCEPA's.
The research in theoretical robotics mainly focuses on the formulation
of kinematic and dynamic equations of serial and parallel robots using Plücker vectors,
and the analysis of singular poses with Grassmann geometries and exterior algebra.
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