TitleVariable Stiffness Actuators for Fast and Safe Motion Control
Publication TypeBook Chapter
Year of Publication2003
AuthorsBicchi, A, Tonietti, G, Bavaro, M, Piccigallo, M
EditorSiciliano, B, Khatib, O, Groen, F
Book TitleProceedings of the International Symposium on Robotics Research
Series TitleSpringer Tracts in Advanced Robotics (STAR)
PublisherSpringer Verlag

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.

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