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A mechatronic approach for robust stiffness estimation of variable stiffness actuators
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013This 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 +3 more
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2011 IEEE International Conference on Robotics and Automation, 2011
For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion.
Byeong-Sang Kim, Jae-Bok Song
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For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion.
Byeong-Sang Kim, Jae-Bok Song
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Dynamic modelling and control of variable stiffness actuators
2010 IEEE International Conference on Robotics and Automation, 2010After briefly summarizing the mechanical design of the two joint prototypes for the new DLR variable compliance arm, the paper exemplifies the dynamic modelling of one of the prototypes and proposes a generic variable stiffness joint model for nonlinear control design.
Alin Albu-Schäffer +5 more
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Adaptive impedance control of a variable stiffness actuator
Advanced Robotics, 2015This paper proposes an optimal impedance control method for a variable stiffness actuator (VSA), in which a variable stiffness mechanism and an actuator are aligned in series. First, we introduce a circuit expression of the robotic system and provide a unified framework to determine an optimal index of robots driven by VSAs, irrespective of the ...
Ryuta Ozawa +2 more
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Design and Modelling of a Modular Variable Stiffness Actuator
2019 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2019This paper presents the design and modeling of a modular variable stiffness joint intended for human-robot interaction. The functional concept is based on bidirectional antagonistic variable stiffness (BAVS) principle, in which elastic actuators are connected in parallel to output link, and an internal torque is generated by the antagonistic motion of ...
Jiale Liang +5 more
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Parallel Variable Stiffness Actuators
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021Chase W. Mathews, David J. Braun
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TASK SPACE CONTROL OF ROBOTSWITH VARIABLE STIFFNESS ACTUATION
IFAC Proceedings Volumes, 2010Abstract Physical human-robot interaction represents one of the current challenges in robotics. To this end, the development of safe and dependable robots is actually changing the design of robotic devices, introducing actuation systems and transmission elements with relevant and programmable compliance and soft covers able to emulate the human skin ...
PALLI, GIANLUCA, MELCHIORRI, CLAUDIO
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Design of Parallel Variable Stiffness Actuators
IEEE Transactions on Robotics, 2023Chase W. Mathews, David J. Braun
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Torque Estimation in Variable Stiffness Actuators
2016 International Conference on Systems Informatics, Modelling and Simulation (SIMS), 2016For the use in rehabilitation robotic devices, various types of actuators are currently being investigated. Variable impedance actuators seem promising concerning individualized training, comfort and safety. For the control of actuators, some sensors are required, however, to keep the rehabilitation device light, also the implementation of measuring ...
Bernhard Penzlin +3 more
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A Novel Series Elastic Actuator with Variable Stiffness
2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2023Chao Wang 0098 +6 more
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