@conference {TSB05,
	title = {Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {2005},
	pages = {528-533},
	abstract = {<p style="text-align: justify;">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.</p>
},
	keywords = {Robotics},
	author = {G. Tonietti and R. Schiavi and A. Bicchi}
}
@conference {TB02-IARP,
	title = {Design, Realization and Control of Soft Robot Arms for Intrinsically Safe Interaction with Humans},
	booktitle = {Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments},
	year = {2002},
	month = {October},
	pages = {79-87},
	keywords = {Robotics},
	author = {A. Bicchi and G. Tonietti}
}
