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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
Frederic H. Giraud +2 more
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Robust Trajectory Tracking Control for Variable Stiffness Actuators With Model Perturbations [PDF]
Frontiers in Neurorobotics, 2019 Variable Stiffness Actuators (VSAs) have been introduced to develop new-generation compliant robots. However, the control of VSAs is still challenging because of model perturbations such as parametric uncertainties and external disturbances.
Zhao Guo +7 more
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Stable Gaussian process tracking control of antagonistic variable stiffness actuators [PDF]
Scientific ReportsThe control of variable stiffness actuators (VSAs) is challenging because they have highly nonlinear characteristics and are difficult to model accurately.
Zhigang Zou +3 more
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Energy-Efficient Variable Stiffness Actuators
IEEE Transactions on Robotics, 2011 Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated degrees of freedom, which determine how the elastic ...
Raffaella Carloni, Stefano Stramigioli
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Actuators, 2017 Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper,
Philipp Beckerle +2 more
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Variable Stiffness Actuators: A Port-Based Power-Flow Analysis
IEEE Transactions on Robotics, 2012 Variable stiffness actuators realize a novel class of actuators, which are capable of changing the apparent output stiffness independently of the output position. This is mechanically achieved by the internal introduction of a number of elastic elements and a number of actuated degrees of freedom (DOFs), which determine how the elastic elements are ...
Raffaella Carloni, Stefano Stramigioli
exaly +3 more sources
Embodying Desired Behavior in Variable Stiffness Actuators* [PDF]
IFAC Postprint Volumes IPPV / International Federation of Automatic Control, 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 ...
Stefano Stramigioli, Antonio Bicchi
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Variable Stiffness Actuators: Review on Design and Components
IEEE/ASME Transactions on Mechatronics, 2016 Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build pas- sively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of
Sebastian Wolf +2 more
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Overcoming the Torque/Stiffness Range Tradeoff in Antagonistic Variable Stiffness Actuators
IEEE/ASME Transactions on Mechatronics, 2021 To face the demand for applications in which robots have to safely interact with humans and the environment, the research community developed new types of actuators with compliant characteristics. To embody compliance into the actuator, elastic elements with fixed or variable compliance can be used.
Riccardo Mengacci +2 more
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Research on a Variable-Stiffness Joint and Its Application in Actuators
Actuators, 2023 Variable-stiffness actuators can flexibly adjust the overall or local stiffness of a structure, thus enabling reconstruction, adaptation, and locking capabilities that can meet a wide range of task requirements.
Qi Wang +4 more
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