Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction
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|Title||Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction|
|Publication Type||Conference Paper|
|Year of Publication||2005|
|Conference Name||Proc. IEEE Int. Conf. on Robotics and Automation|
|Authors||Tonietti, G, Schiavi, R, Bicchi, A|
This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans. According to criteria established in our previous work on mechanical-control co-design for intrinsically safe, yet performant machines, we pursue the Variable Impedance Actuation (VIA) approach, purporting actuators that can control in real-time both the reference position and the mechanical impedance of the moving parts in the machine. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.