Results 11 to 20 of about 36,677 (300)
The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification
IEEE/ASME Transactions on Mechatronics, 2014 In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission ratio between the internal elastic elements and the ...
Stefan S. Groothuis +4 more
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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
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Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism
Actuators, 2020 The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM ...
Yinglong Chen +2 more
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Biohybrid Variable‐Stiffness Soft Actuators that Self‐Create Bone [PDF]
Advanced Materials, 2022 AbstractInspired by the dynamic process of initial bone development, in which a soft tissue turns into a solid load‐bearing structure, the fabrication, optimization, and characterization of bioinduced variable‐stiffness actuators that can morph in various shapes and change their properties from soft to rigid are hereby presented.
Danfeng Cao +3 more
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Actuators, 2023 To improve collision safety in robot–human collaborative applications, increasing attention has been paid to rotational variable stiffness actuators. A new rotational variable stiffness actuator, which works in two stages, is proposed for hybrid passive ...
Caidong Wang +5 more
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Embodying Desired Behavior in Variable Stiffness Actuators* [PDF]
IFAC Proceedings Volumes, 2011 Variable stiffness actuators are a class of actuators with the capability of changing their apparent output stiffness independently from the actuator output position. This is achieved by introducing internally a number of compliant elements, and internal actuated degrees of freedom that determine how these compliant elements are perceived at the ...
Visser, L.C. +2 more
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Coupling between the Output Force and Stiffness in Different Variable Stiffness Actuators
Actuators, 2014 The fundamental objective in developing variable stiffness actuators is to enable the actuator to deliberately tune its stiffness. This is done through controlling the energy flow extracted from internal power units, i.e., the motors of a variable ...
Amir Jafari
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Modeling and design of energy efficient variable stiffness actuators [PDF]
, 2010 In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy ...
Carloni, R. +3 more
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Advanced Intelligent Systems, 2020 The inherent compliance of soft robots often makes it difficult for them to exert forces on surrounding surfaces or withstand mechanical loading. Controlled stiffness is a solution to empower soft robots with the ability to apply large forces on their ...
Yegor Piskarev +5 more
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IEEE Access, 2021 Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI). However, in the incidents of collision, the need of a fast response in stiffness
Irfan Hussain +6 more
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