TY - JOUR T1 - Variable Stiffness Actuators: Review on Design and Components JF - IEEE/ASME Transactions on Mechatronics Y1 - 2016 A1 - S. Wolf A1 - G. Grioli A1 - O. Eiberger A1 - W. Friedl A1 - M. Grebenstein A1 - H. Hoppner A1 - E. Burdet A1 - D. G. Caldwell A1 - R. Carloni A1 - M. G. Catalano A1 - D. Lefeber A1 - S. Stramigioli A1 - N. G. Tsagarakis A1 - M. Van Damme A1 - R. Van Ham A1 - B. Vanderborght A1 - L. C. Visser A1 - A. Bicchi A1 - A Albu-Schaeffer KW - Robotics AB -

Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.

VL - 21 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7330025 IS - 5 ER - TY - CONF T1 - Potential merits for space robotics from novel concepts of actuation for soft robotics T2 - Advanced Space Technologies for Robotics and Automation (ASTRA) Y1 - 2015 A1 - G. Mathijssen A1 - S. Terryn A1 - R. Funemont A1 - M. Garabini A1 - M. G. Catalano A1 - G. Grioli A1 - D. Lefeber A1 - A. Bicchi A1 - B. Vanderborght KW - Robotics JF - Advanced Space Technologies for Robotics and Automation (ASTRA) CY - Noordwijk, The Netherlands May 11-13, 2015 ER - TY - JOUR T1 - Variable Stiffness Actuators: the user’s point of view JF - Int. J. Robotics Research Y1 - 2015 A1 - G. Grioli A1 - S. Wolf A1 - M. Garabini A1 - M. G. Catalano A1 - E. Burdet A1 - D. G. Caldwell A1 - R. Carloni A1 - W. Friedl A1 - M. Grebenstein A1 - M. Laffranchi A1 - D. Lefeber A1 - S. Stramigioli A1 - N G Tsagarakis A1 - M. Van Damme A1 - B. Vanderborght A1 - A Albu-Schaeffer A1 - A. Bicchi KW - Robotics VL - 34 UR - http://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP&keytype=finite IS - 6 N1 -

Extensions.zip

ER - TY - JOUR T1 - Variable Impedance Actuators: a Review JF - Robotics and Autonomous Systems Y1 - 2013 A1 - B. Vanderborght A1 - A Albu-Schaeffer A1 - A. Bicchi A1 - E. Burdet A1 - D. G. Caldwell A1 - R. Carloni A1 - M. G. Catalano A1 - O. Eiberger A1 - W. Friedl A1 - G. Ganesh A1 - M. Garabini A1 - M. Grebenstein A1 - G. Grioli A1 - S. Haddadin A1 - H. Hoppner A1 - A. Jafari A1 - M. Laffranchi A1 - D. Lefeber A1 - F. Petit A1 - S. Stramigioli A1 - N G Tsagarakis A1 - M. Van Damme A1 - R. Van Ham A1 - L. C. Visser A1 - S. Wolf KW - Robotics KW - Soft robotics KW - Variable Impedance Actuators AB -

Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA’s to be guided in the design and implementation process for their targeted application.

VL - 61 UR - http://www.sciencedirect.com/science/article/pii/S0921889013001188 IS - 12 N1 -

Available online 6 August 2013

ER - TY - ADVS T1 - Variable Impedance Actuators: Moving the Robots of Tomorrow Y1 - 2012 A1 - B. Vanderborght A1 - A Albu-Schaeffer A1 - A. Bicchi A1 - E. Burdet A1 - D. G. Caldwell A1 - R. Carloni A1 - M. G. Catalano A1 - G. Ganesh A1 - M. Garabini A1 - G. Grioli A1 - S. Haddadin A1 - A. Jafari A1 - M. Laffranchi A1 - D. Lefeber A1 - F. Petit A1 - S. Stramigioli A1 - N G Tsagarakis A1 - M. Van Damme A1 - R. Van Ham A1 - L. C. Visser A1 - S. Wolf KW - Robotics JF - International Conference of Intelligent Robots and Systems - IROS 2012- Best Jubilee Video Award ER -