A novel energy-efficient rotational variable stiffness actuator

Rao, Shodhan and Carloni, Raffaella and Stramigioli, Stefano (2011) A novel energy-efficient rotational variable stiffness actuator. In: IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011, 30 August - 3 September 2011, Boston, MA, USA.

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Abstract:	This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping constant the internal stored energy of the actuator. The principle of the actuator is an extension of the principle of translational energy-efficient actuator vsaUT. A prototype based on the principle has been designed, in which ball-bearings and linear slide guides have been used in order to reduce losses due to friction.
Item Type:	Conference or Workshop Item
Copyright:	© 2011 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/77997
Official URL:	http://dx.doi.org/10.1109/IEMBS.2011.6092016
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