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2011 IEEE International Conference on Robotics and Automation, 2011
For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion.
Byeong-Sang Kim, Jae-Bok Song
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For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion.
Byeong-Sang Kim, Jae-Bok Song
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TASK SPACE CONTROL OF ROBOTSWITH VARIABLE STIFFNESS ACTUATION
IFAC Proceedings Volumes, 2010Abstract Physical human-robot interaction represents one of the current challenges in robotics. To this end, the development of safe and dependable robots is actually changing the design of robotic devices, introducing actuation systems and transmission elements with relevant and programmable compliance and soft covers able to emulate the human skin ...
PALLI, GIANLUCA, MELCHIORRI, CLAUDIO
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A mechatronic approach for robust stiffness estimation of variable stiffness actuators
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013This paper proposes a novel mechatronic approach for on-line robust estimation of both torque and stiffness of Variable Stiffness Actuators (VSA). The proposed solution is demonstrated robust with respect to uncertainties affecting both the dynamic parameters of the motor and to the efficiency of the motor gearbox.
Cirillo A +3 more
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Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation
2010 IEEE International Conference on Robotics and Automation, 2010The variable stiffness actuation concept is considered to provide a human-friendly robot technology. This paper examines a joint concept called the bidirectional antagonistic joint which is a extension of antagonistic joints. A new operating mode called the helping mode is introduced, which increases the joint load range.
Florian Petit +5 more
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Parallel Variable Stiffness Actuators
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021Chase W. Mathews, David J. Braun
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2010
It is provided a variable stiffness actuator (1) adapted to move a movable component (102) and comprising: two electric motors (4) of the rotary type, at least one output shaft (3) adapted to be set in rotation by said two electric motors (4) around a rotation axis (3a); an elastic transmission system adapted to enable motion transfer from said motors (
Bicchi A +3 more
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It is provided a variable stiffness actuator (1) adapted to move a movable component (102) and comprising: two electric motors (4) of the rotary type, at least one output shaft (3) adapted to be set in rotation by said two electric motors (4) around a rotation axis (3a); an elastic transmission system adapted to enable motion transfer from said motors (
Bicchi A +3 more
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Compliant actuation of parallel-type variable stiffness actuator based on antagonistic actuation
Journal of Mechanical Science and Technology, 2010For a service robot requiring physical human-robot interaction, stable contact motion and collision safety are very important. To accomplish these functions, we propose a novel design for a parallel-type variable stiffness actuator (PVSA). The stiffness and position of a joint can be controlled simultaneously using the PVSA based on an antagonistic ...
Ki-Hoon Nam +2 more
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A position and stiffness control strategy for variable stiffness actuators
2012 IEEE International Conference on Robotics and Automation, 2012Variable stiffness actuators (VSAs) have been introduced to improve, at the design level, the safety and the energy efficiency of the new generation of robots that have to interact closely with humans. A wide variety of design solutions have recently been proposed, and a common factor in most of the VSAs is the introduction of a flexible transmission ...
I. Sardellitti +4 more
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The invention relates to a coupling system for transmitting torque around a central axis of the coupling system, wherein the coupling system comprises; - a stator, - a hypocycloid transmission system rotatably supported by the stator, - an output member for transmitting torque, which output member is rotatably coupled with the stator through the ...
Stramigioli, Stefano +1 more
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Stramigioli, Stefano +1 more
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