Results 1 to 10 of about 4,335 (164)
A Pneumatic Particle-Blocking Variable-Stiffness Actuator [PDF]
Sensors, 2023 In order to improve the stiffness of flexible robots, this paper proposes a variable-stiffness elastic actuator. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage.
He Peng, Wang Xia
exaly +6 more sources
A Variable Stiffness Actuator Based on Leaf Springs: Design, Model and Analysis
Actuators, 2022 In order to adapt to complex and changeable mechanical conditions and make the deformable mechanisms perform well statically and dynamically, variable stiffness joints have been studied extensively.
Yifan Lu, Lu Yifan
exaly +3 more sources
Modeling, Control, and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA) [PDF]
Frontiers in Robotics and AI, 2018 This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control, and numerical simulations of a novel Binary-Controlled Variable Stiffness Actuator (BcVSA) aiming ...
Irfan Hussain +4 more
doaj +2 more sources
A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation [PDF]
BiomimeticsThis paper presents a novel design for a bionic knee exoskeleton equipped with a variable stiffness actuator based on rope-driven artificial muscles. To meet the varying stiffness requirements of the knee joint across different gait modes, the actuator ...
Shikai Jin, Bin Liu, Zhuo Wang
doaj +2 more sources
Flexure Variable Stiffness Actuators
Advanced Intelligent Systems, 2022 Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of moving parts, and reducing the mechanical efficiency.
Frédéric H. Giraud +2 more
openaire +2 more sources
Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator
Actuators, 2021 This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable ...
Ming Zhang +6 more
doaj +1 more source
Design and Experiment Investigation on Soft Grippers with Modular Variable Stiffness Structure
Micromachines, 2023 Soft grippers have good adaptability and flexibility for grasping irregular or fragile objects, and to further enhance their stiffness, soft grippers with variable stiffness have been developed.
Pengbing Zhao +4 more
doaj +1 more source
Variable stiffness actuators: The user’s point of view [PDF]
The International Journal of Robotics Research, 2015 Since their introduction in the early years of this century, variable stiffness actuators (VSA) witnessed a sustained growth of interest in the research community, as shown by the growing number of publications. While many consider VSA very interesting for applications, one of the factors hindering their further diffusion is the relatively new ...
Giorgio Grioli +16 more
openaire +4 more sources
Design and Analysis of a Linear Digital Variable Stiffness Actuator
IEEE Access, 2021 In this paper, a novel variable stiffness mechanism (VSM) based on specially designed S-springs made from shape memory alloy (SMA) is developed.
Yapeng Xu, Kai Guo, Jie Sun, Jianfeng Li
doaj +1 more source
Mathematics, 2023 The study of position control for variable stiffness actuators is important for improving their energy efficiency and robustness. In this paper, for the previously proposed nonlinear variable stiffness actuator, firstly, a dynamic model of the variable ...
Zemin Yang +4 more
doaj +1 more source