Modeling and design of energy efficient variable stiffness actuators

Visser, L.C. and Carloni, R. and Ünal, R. and Stramigioli, S. (2010) Modeling and design of energy efficient variable stiffness actuators. In: IEEE International Conference on Robotics and Automation, ICRA 2010, 3-7 May, 2010, Anchorage, Alaska, USA.

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Abstract:	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 efficient variable stiffness actuators. Based on new insights gained from this approach, a novel conceptual actuator is presented. Simulations show that the apparent output stiffness of this actuator can be dynamically changed in an energy efficient way.
Item Type:	Conference or Workshop Item
Copyright:	© 2010 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS) Engineering Technology (CTW)
Research Group:	Biomechanical Engineering (BE) Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/72400
Official URL:	http://dx.doi.org/10.1109/ROBOT.2010.5509349
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