Results 11 to 20 of about 36,808 (296)
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 ...
Visser, Ludo C. +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 ...
Carloni, Raffaella +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.
Mengacci R. +4 more
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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
Wolf, Sebastian +18 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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Embodying Desired Behavior in Variable Stiffness Actuators* [PDF]
IFAC Proceedings Volumes, 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 ...
Visser, L.C. +2 more
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Modeling and design of energy efficient variable stiffness actuators [PDF]
, 2010 In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy ...
Carloni, R. +3 more
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Online Reconfiguration of a Variable-Stiffness Actuator [PDF]
IEEE/ASME Transactions on Mechatronics, 2018 This paper presents an algorithm to adjust the configuration of a variable-stiffness actuator to reduce its electrical energy requirements during the execution of repetitive tasks. The algorithm is based on the gradient descent optimization method with a modification of the adaptation step size, a forgetting term, and a projection rule to cope with the
Rene Jimenez-Fabian +4 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
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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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