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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, Mustafa Mete, Jamie Paik   +2 more
doaj   +4 more sources

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, Zhao Guo, Jiantao Sun, Jie Ling, Yongping Pan, Yongping Pan, Xiaohui Xiao, Xiaohui Xiao   +7 more
doaj   +2 more sources

Stable Gaussian process tracking control of antagonistic variable stiffness actuators [PDF]

Scientific Reports
The control of variable stiffness actuators (VSAs) is challenging because they have highly nonlinear characteristics and are difficult to model accurately.
Zhigang Zou, Wei Li, Chenguang Yang, Yongping Pan   +3 more
doaj   +2 more sources

Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics

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, Florian Stuhlenmiller, Stephan Rinderknecht   +2 more
doaj   +3 more sources

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 ...
Stefano Stramigioli, Raffaella Carloni
exaly   +2 more sources

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 ...
Stefano Stramigioli, Raffaella Carloni
exaly   +3 more sources

Design of morphing patterns in knitted SMA textile actuators via knitting codes [PDF]

Scientific Reports
Shape memory alloys (SMAs) are widely used as soft actuators due to their shape memory effect, variable stiffness, and simple actuation via Joule heating. To achieve larger and more diverse deformations, SMA wires can be integrated as fibers into textile
Ju-Hee Lee, Yeji Han, Eunsol Park, Min-Woo Han   +3 more
doaj   +2 more sources

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
Alin Albu-Schäffer, Stefano Stramigioli, Etienne Burdet   +2 more
exaly   +4 more sources

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.
Antonio Bicchi, Riccardo Mengacci, Giorgio Grioli   +2 more
exaly   +3 more sources

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, Xiaolong Lu, Peng Jiang, Chang Guo, Yalin Sun   +4 more
doaj   +1 more source