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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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
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 +4 more
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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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Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator
Actuators, 2021 This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable ...
Ming Zhang +6 more
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Research and analysis of resonant and stiffness of cylindrical dielectric elastomer actuator
Materials Research Express, 2021 Dielectric elastomer actuators draw great interest in the emerging technology of soft actuations. The drifting of resonance frequency and variable stiffness are commonly existed in soft actuations.
Jin Li +4 more
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Elastic Actuator Design Based on Bending of Cylindrical Beam for Robotic Applications
Actuators, 2020 The lack of suitable actuators has hampered the development of high-performance machines or robots that can compete with living organisms in terms of motion, safety, and energy efficiency.
Reis Murat +2 more
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Variable Stiffness Conductive Composites by 4D Printing Dual Materials Alternately
Micromachines, 2022 Materials that can be designed with programmable properties and which change in response to external stimuli are of great importance in numerous fields of soft actuators, involving robotics, drug delivery and aerospace applications.
Fei Long +4 more
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A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept
Actuators, 2014 The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often ...
Maarten Weckx +6 more
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