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A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies

IEEE Transactions on Robotics, 2010
A new approach to a variable stiffness actuator with tunable resonant frequencies is presented in this paper. Variable stiffness actuators have become increasingly important to meet safety requirements and achieve adaptive manipulation or locomotion. For
Thomas W Secord, H Harry Asada
exaly   +2 more sources

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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
openaire   +2 more sources

Variable Stiffness Actuator Structure for Robot

2021
Based on the idea of regulating the variation on stiffness by controlling the number of springs involved in the work, this paper designs a kind of variable stiffness actuator (VSA) which can be applied to the field of robot. The variable stiffness structure takes the spiral tensile spring as the elastic element, and the number of springs Participating ...
Chuanyi Cui, Kai Guo 0004, Jie Sun 0023
openaire   +1 more source

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
openaire   +1 more source

On the control of redundant robots with variable stiffness actuation

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
In this paper, the control of a redundant robotic manipulator with variable stiffness actuation is addressed. The problem of controlling simultaneously the end-effector position and stiffness exploiting the robot redundancy for the optimization of the robot configuration is considered, and the relation between the manipulator redundancy and the ...
PALLI, GIANLUCA, MELCHIORRI, CLAUDIO
openaire   +2 more sources

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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The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification [PDF]

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.
Stefan S Groothuis, Andrea Zucchelli, Stefano Stramigioli   +2 more
exaly   +2 more sources

Object grasping using a 1 DOF variable stiffness gripper actuated by a hybrid variable stiffness actuator

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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Adaptive impedance control of a variable stiffness actuator

Advanced Robotics, 2015
This 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, Hiroaki Kobayashi, Ryota Ishibashi   +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), 2019
This 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, Yinghao Ning, Hailin Huang, Wenfu Xu, Bing Li 0015, Ying Hu 0001   +5 more
openaire   +1 more source