Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency

Visser, L.C. and Carloni, R. and Stramigioli, S. (2010) Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency. In: IEEE International Conference on Intelligent Robotics and Automation, ICRA 2010, 3-7 May, 2010, Anchorage, Alaska, USA.

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Abstract:	In this paper, a metric for comparing different designs of variable stiffness actuators is introduced. For the formulation of this metric, we focus on the energy efficiency of the actuators. In particular, we propose a metric that is a measure of how much energy is used by the actuator for changing the output stiffness. In order to facilitate the analysis of the energy usage, we present a port-based modeling framework, from which design criteria are derived for the optimization of the metric. Finally, the metric is interpreted in a comparison between existing actuators.
Item Type:	Conference or Workshop Item
Copyright:	© 2010 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/72401
Official URL:	http://dx.doi.org/10.1109/ROBOT.2010.5509127
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