|Variable Stiffness Actuators for Fast and Safe Motion Control
|Year of Publication
|Bicchi, A, Tonietti, G, Bavaro, M, Piccigallo, M
|Siciliano, B, Khatib, O, Groen, F
|Proceedings of the International Symposium on Robotics Research
|Springer Tracts in Advanced Robotics (STAR)
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.