01084nas a2200193 4500008004100000245006600041210006600107260002000173520046200193653001300655100001500668700001600683700001400699700001800713700001700731700001400748700001300762856011500775 2003 eng d00aVariable Stiffness Actuators for Fast and Safe Motion Control0 aVariable Stiffness Actuators for Fast and Safe Motion Control bSpringer Verlag3 a
In this paper we propose Variable Stiffness actuation as a viable mechanical/control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.
10aRobotics1 aBicchi, A.1 aTonietti, G1 aBavaro, M1 aPiccigallo, M1 aSiciliano, B1 aKhatib, O1 aGroen, F uhttps://www.centropiaggio.unipi.it/publications/variable-stiffness-actuators-fast-and-safe-motion-control.html