Related references
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Article
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IEEE-ASME TRANSACTIONS ON MECHATRONICS
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IEEE ROBOTICS AND AUTOMATION LETTERS
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Summary: The variable stiffness actuator (VSA) can enhance the actuating efficiency of robotic joints and improve their impact resistance by absorbing and reusing power between load and motor. A new type of pneumatic variable stiffness actuator (PVSA) is proposed in this article, utilizing compressed gas to adjust stiffness and integrating with metal springs to increase stiffness range and torque bandwidth, providing effective actuation performance with remote stiffness adjustment capability.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
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Review
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Article
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IEEE-ASME TRANSACTIONS ON MECHATRONICS
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Article
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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Summary: This study introduces a reconfigurable variable stiffness actuator based on rotational spring mechanism and specially designed S-springs, enabling continuous stiffness regulation and easy control. The system achieves improved energy efficiency and response speed through reduced internal friction and bearing design.
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Summary: This study proposes a novel control law to achieve good regulation performance and desired damped behavior for compliant robots driven by agonistic-antagonistic variable stiffness actuators. The method preserves the elastic structure of the system and the ability to adjust passive stiffness at the joints, validated through simulations and experiments on Hand Arm System from the German Aerospace Center and a planar platform with analogous actuation unit qbMove Advanced.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
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Summary: This article proposes a novel rotational variable stiffness actuator that uses S-shaped springs as elastic elements, allowing for compact stiffness regulation and fast adjustment. The actuator utilizes planetary gear differential and a disturbance observer to reduce reflected inertia and estimate disturbances, improving control performance.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
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Proceedings Paper
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Ronnapee Chaichaowarat et al.
Summary: The article discusses the use of an adjustable unsupported-length cantilever leaf spring for stiffness modulation in a rehabilitation robot's body weight support system. By transmitting interaction force through the elastic component to the supporting structure, this type of actuator requires low power to maintain the desired stiffness.
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)
(2021)
Proceedings Paper
Automation & Control Systems
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Summary: This study introduces a new variable stiffness actuator based on a second-order lever mechanism with wide stiffness regulation range, demonstrating excellent performance in load capacity, stiffness regulation response, and elastic hysteresis. A variable stiffness actuated manipulator is successfully developed, showing capabilities in fast stiffness tracking, shock-absorbing, and explosive movement. Experimental results also confirm the ability of the manipulator to withstand accidental impact, highlighting the structural stability of the proposed design.
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)
(2021)
Proceedings Paper
Automation & Control Systems
Taeyeon Kim et al.
Summary: A novel compact transmitted-force-sensing SEA module is introduced in this study, with a novel spring design that can maximize the length and radius of curvature, showing low hysteresis and symmetry of deformation. The high-frequency torque control performance is evaluated through experiments using a feedback controller.
2021 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)
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Proceedings Paper
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Eamon Barrett et al.
Summary: Softer series elastic actuators provide higher torque resolution and better torque transparency for soft physical interaction with the environment, while stiffer series elastic actuators enable fast, strong, and powerful physical interaction. Progressive stiffness compliant elements can make the actuator inherently soft at low torque levels and stiffer at higher levels, addressing design trade-offs. The proposed solution, based on radially oriented linear springs, achieves a passive elastic element without complex nonlinear transmissions, resulting in a cubic polynomial torque-deflection characteristic with low hysteresis.
2021 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)
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Article
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Tuan Luong et al.
Summary: This paper presents a study on simultaneous position-stiffness control of an antagonistic joint driven by super-coiled polymer (SCP) artificial muscles. A nonlinear model is proposed and model predictive control (MPC) is applied to achieve simultaneous control of joint angle and stiffness. The system demonstrates high accuracy in position control and stiffness control, showcasing potential for safe and reliable human motion.
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