02013nas a2200361 4500008004100000245006600041210006500107260001200172300001600184490000700200520103900207653001301246100001201259700001501271700001601286700001401302700001901316700001501335700001401350700002001364700001501384700002001399700001501419700001901434700002301453700001801476700001601494700002001510700001601530700001501546700002201561856006801583 2016 eng d00aVariable Stiffness Actuators: Review on Design and Components0 aVariable Stiffness Actuators Review on Design and Components c10/2016 a2418 - 24300 v213 a
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.
10aRobotics1 aWolf, S1 aGrioli, G.1 aEiberger, O1 aFriedl, W1 aGrebenstein, M1 aHoppner, H1 aBurdet, E1 aCaldwell, D. G.1 aCarloni, R1 aCatalano, M. G.1 aLefeber, D1 aStramigioli, S1 aTsagarakis, N., G.1 aDamme, Van, M1 aHam, Van, R1 aVanderborght, B1 aVisser, L C1 aBicchi, A.1 aAlbu-Schaeffer, A uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=733002500747nas a2200205 4500008003900000245009100039210006900130260004800199653001300247100001900260700001500279700001700294700001700311700002000328700001500348700001500363700001500378700002000393856012800413 2015 d00aPotential merits for space robotics from novel concepts of actuation for soft robotics0 aPotential merits for space robotics from novel concepts of actua aNoordwijk, The Netherlands May 11-13, 201510aRobotics1 aMathijssen, G.1 aTerryn, S.1 aFunemont, R.1 aGarabini, M.1 aCatalano, M. G.1 aGrioli, G.1 aLefeber, D1 aBicchi, A.1 aVanderborght, B uhttps://www.centropiaggio.unipi.it/publications/potential-merits-space-robotics-novel-concepts-actuation-soft-robotics.html00922nas a2200325 4500008004100000245006100041210005800102260001200160300001200172490000700184653001300191100001500204700001200219700001700231700002000248700001400268700002000282700001500302700001400317700001900331700001800350700001500368700001900383700002000402700001800422700002000440700002200460700001500482856009900497 2015 eng d00aVariable Stiffness Actuators: the user’s point of view0 aVariable Stiffness Actuators the user s point of view c05/2015 a727-7430 v3410aRobotics1 aGrioli, G.1 aWolf, S1 aGarabini, M.1 aCatalano, M. G.1 aBurdet, E1 aCaldwell, D. G.1 aCarloni, R1 aFriedl, W1 aGrebenstein, M1 aLaffranchi, M1 aLefeber, D1 aStramigioli, S1 aTsagarakis, N G1 aDamme, Van, M1 aVanderborght, B1 aAlbu-Schaeffer, A1 aBicchi, A. uhttp://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP&keytype=finite02056nas a2200457 4500008004100000245004300041210004200084260001200126300001600138490000700154520088900161653001301050653001801063653003301081100002001114700002201134700001501156700001401171700002001185700001501205700002001220700001601240700001401256700001401270700001701284700001901301700001501320700001601335700001501351700001401366700001801380700001501398700001301413700001901426700002001445700001801465700001601483700001601499700001201515856007101527 2013 eng d00aVariable Impedance Actuators: a Review0 aVariable Impedance Actuators a Review c12/2013 a1601–16140 v613 aVariable 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/S092188901300118800977nas a2200337 4500008004100000245006400041210006300105653001300168100002000181700002200201700001500223700001400238700002000252700001500272700002000287700001400307700001700321700001500338700001600353700001400369700001800383700001500401700001300416700001900429700002000448700001800468700001600486700001600502700001200518856010900530 2012 eng d00aVariable Impedance Actuators: Moving the Robots of Tomorrow0 aVariable Impedance Actuators Moving the Robots of Tomorrow10aRobotics1 aVanderborght, B1 aAlbu-Schaeffer, A1 aBicchi, A.1 aBurdet, E1 aCaldwell, D. G.1 aCarloni, R1 aCatalano, M. G.1 aGanesh, G1 aGarabini, M.1 aGrioli, G.1 aHaddadin, S1 aJafari, A1 aLaffranchi, M1 aLefeber, D1 aPetit, F1 aStramigioli, S1 aTsagarakis, N G1 aDamme, Van, M1 aHam, Van, R1 aVisser, L C1 aWolf, S uhttps://www.centropiaggio.unipi.it/publications/variable-impedance-actuators-moving-robots-tomorrow.html