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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

Variable stiffness actuators: The user’s point of view [PDF]

The International Journal of Robotics Research, 2015
Since their introduction in the early years of this century, variable stiffness actuators (VSA) witnessed a sustained growth of interest in the research community, as shown by the growing number of publications. While many consider VSA very interesting for applications, one of the factors hindering their further diffusion is the relatively new ...
GRIOLI, GIORGIO, S. Wolf, GARABINI, MANOLO, CATALANO, MANUEL GIUSEPPE, E. Burdet, D. G. Caldwell, R. Carloni, W. Friedl, M. Grebenstein, M. Laffranchi, D. Lefeber, S. Stramigioli, N. G. Tsagarakis, V. M. Damme, B. Vanderborght, A. Albu Schaeffer, BICCHI, ANTONIO   +16 more
openaire   +6 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

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, Jose G. Martinez, Emilio Satoshi Hara, Edwin W. H. Jager   +3 more
openaire   +5 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

Energy Efficient Actuation with Variable Stiffness Actuators [PDF]

, 2010
Research effort in the field of variable stiffness actuators is steadily increasing, due to their wide range of possible applications and their advantages.
Carloni, Raffaella, Stramigioli, Stefano, Visser, Ludo C.   +2 more
core   +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

A Pneumatic Particle-Blocking Variable-Stiffness Actuator

Sensors, 2023
In order to improve the stiffness of flexible robots, this paper proposes a variable-stiffness elastic actuator. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. The anti-tensile stiffness of the actuator is nonlinearly negatively correlated with the air pressure because of the structural and ...
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu
openaire   +3 more sources

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, Pengfei Ma, Feng Sun, Xingwei Sun, Fangchao Xu, Junjie Jin, Lijin Fang   +6 more
doaj   +1 more source

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, Lijie Sun, Tuan Dung Nguyen, Tianyi Zhong, Xingyu Liao   +4 more
doaj   +1 more source