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Limit cycles and stiffness control with variable stiffness actuators

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Variable stiffness actuators realize highly dynamic systems, whose inherent mechanical compliance can be properly exploited to obtain a robust and energy-efficient behavior. The paper presents a control strategy for variable stiffness actuators with the primarily goal of tracking a limit cycle trajectory and a desired stiffness, which is a function of ...
R. Carloni, MARCONI, LORENZO
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Backstepping Control of Variable Stiffness Robots

IEEE Transactions on Control Systems Technology, 2015
Robots with elastic joints arouse an increasing interest in the robotics community. Especially, variable stiffness robots promise to be beneficial regarding robustness and task adaptability. However, the control of variable stiffness multijoint robots is challenging due to their highly nonlinear behavior.
Petit, Florian, Daasch, Andreas, Albu-Schäffer, Alin Olimpiu   +2 more
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A position and stiffness control strategy for variable stiffness actuators

2012 IEEE International Conference on Robotics and Automation, 2012
Variable stiffness actuators (VSAs) have been introduced to improve, at the design level, the safety and the energy efficiency of the new generation of robots that have to interact closely with humans. A wide variety of design solutions have recently been proposed, and a common factor in most of the VSAs is the introduction of a flexible transmission ...
Irene Sardellitti, Gustavo A. Medrano-Cerda, Nikolaos G. Tsagarakis, Amir Jafari, Darwin G. Caldwell   +4 more
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Towards a robust variable stiffness actuator

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Robots with Variable Stiffness Actuators (VSA) are intrinsically flexible in the joints. The built-in mechanical spring not only has the advantage of a higher peak performance, but also leads to a more robust robot. This paper presents and analyzes the threats to a VSA equipped robot that arise from external or internal origin. Influences of mechanical,
Wolf, Sebastian, Albu-Schäffer, Alin Olimpiu   +1 more
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A variable-stiffness and healable pneumatic actuator

Materials Horizons, 2023
A pneumatic actuator based on variable-stiffness and self-healing polymers shows high load capacity at room temperature but can be actuated pneumatically upon heating. And it can be thermally healed after damaging, thus can prolong its service time.
Hong-Qin Wang, Zi-Yang Huang, De-Wei Yue, Fang-Zhou Wang, Cheng-Hui Li   +4 more
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Colonoscopy with the Variable Stiffness Colonoscope

Gastrointestinal Endoscopy, 2003
During colonoscopy, sharp angulations and fixation of the bowel increase the difficulty of the procedure. Excessive “looping” of the bowel implies that the force of scope insertion is transferred to the colon wall or to its mesenteric attachment instead of to the forward advancement of the leading tip of the colonoscope.
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A mechatronic approach for robust stiffness estimation of variable stiffness actuators

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013
This paper proposes a novel mechatronic approach for on-line robust estimation of both torque and stiffness of Variable Stiffness Actuators (VSA). The proposed solution is demonstrated robust with respect to uncertainties affecting both the dynamic parameters of the motor and to the efficiency of the motor gearbox.
Cirillo A, DE MARIA, Giuseppe, NATALE, Ciro, PIROZZI, Salvatore   +3 more
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Variable stiffness foot design and validation

Journal of Biomechanics, 2021
Energy storing and returning prosthetic feet are commonly prescribed. Research has demonstrated advantages to use these types of prosthetic feet. However, their stiffness in the sagittal plane is fixed and cannot adapt to different walking tasks and user preference.
Christophe Lecomte, Anna Lára Ármannsdóttir, Felix Starker, Heimir Tryggvason, Kristin Briem, Sigurður Brynjolfsson   +5 more
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Variable bipedal walking gait with variable leg stiffness

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014
The Spring-Loaded Inverted Pendulum (SLIP) model has been shown to exhibit many properties of human walking, and therefore has been the starting point for studies on robust, energy-efficient walking for robots. In this paper, the problem of gait variation during walking on the SLIP model is addressed by controlling the leg stiffness and the angle-of ...
Wesley Roozing, Ludo C. Visser, Raffaella Carloni   +2 more
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