Variable stiffness actuators: towards a new generation of robots


Visser, Ludo C. and Carloni, Raffaella and Stramigioli, Stefano (2010) Variable stiffness actuators: towards a new generation of robots. Mikroniek, 50 (5). pp. 5-10. ISSN 0026-3699

[img] PDF
Restricted to UT campus only
: Request a copy
Abstract:The concept of variable stiffness actuators is of relevance to emerging robotics applications. In particular, the intrinsic compliance of the actuator can ensure safe human-robot and robot-environment interaction, even in unexpected collisions. From the analysis of two elementary design classes, lying at the basis of the majority of variable stiffness actuator designs, it is concluded that they are not energy efficient in changing the apparent output stiffness. This can be an issue in mobile applications, where the available energy is limited. Therefore, a new class of energy-efficient variable stiffness actuators is introduced. The conceptual design has been validated by means of simulations and experiments with a prototype realisation.
Item Type:Article
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:
Export this item as:BibTeX
HTML Citation
Reference Manager


Repository Staff Only: item control page

Metis ID: 271101