02056nas a2200457 4500008004100000245004300041210004200084260001200126300001600138490000700154520088900161653001301050653001801063653003301081100002001114700002201134700001501156700001401171700002001185700001501205700002001220700001601240700001401256700001401270700001701284700001901301700001501320700001601335700001501351700001401366700001801380700001501398700001301413700001901426700002001445700001801465700001601483700001601499700001201515856007101527 2013 eng d00aVariable Impedance Actuators: a Review0 aVariable Impedance Actuators a Review c12/2013 a1601–16140 v613 a
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.
10aRobotics10aSoft robotics10aVariable Impedance Actuators1 aVanderborght, B1 aAlbu-Schaeffer, A1 aBicchi, A.1 aBurdet, E1 aCaldwell, D. G.1 aCarloni, R1 aCatalano, M. G.1 aEiberger, O1 aFriedl, W1 aGanesh, G1 aGarabini, M.1 aGrebenstein, M1 aGrioli, G.1 aHaddadin, S1 aHoppner, H1 aJafari, A1 aLaffranchi, M1 aLefeber, D1 aPetit, F1 aStramigioli, S1 aTsagarakis, N G1 aDamme, Van, M1 aHam, Van, R1 aVisser, L C1 aWolf, S uhttp://www.sciencedirect.com/science/article/pii/S0921889013001188