Related references
Note: Only part of the references are listed.
Article
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Summary: This article proposes a lightweight variable stiffness actuator (LVSA) driven by a novel mechanism with four sliders on a shared crank (FS2C). The FS2C mechanism allows the LVSA to simultaneously regulate the preload of four springs using only one motor and achieve a wider-range continuous stiffness adaption with reduced weight. The proposed actuator provides a solution for actuation systems that require lightweight and variable stiffness, such as wearable robotics and assistive exoskeletons.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
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Article
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Summary: This article presents a novel reconfigurable torque-controllable variable stiffness actuator (RVSA) for knee exoskeleton. The RVSA can work in different torque and stiffness ranges, achieving various passive stiffness behaviors. Compared with existing variable stiffness actuators, it has a wider range of joint stiffness and improved energy storage capacity. The article also introduces a method for torque estimation and control without additional torque sensors, and tests the stiffness and practical applications of the RVSA.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
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Article
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IEEE ROBOTICS AND AUTOMATION LETTERS
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Article
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Zhongyi Li et al.
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MECHANISM AND MACHINE THEORY
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Article
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IEEE ROBOTICS AND AUTOMATION LETTERS
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Article
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IEEE ROBOTICS AND AUTOMATION LETTERS
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Article
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Yuanxi Sun et al.
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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Neville Hogan
Summary: This article reviews approaches to controlling robots undergoing physical contact and dynamic interaction with objects in the world. It compares conventional motion control with a hybrid combination of position and force control. It also discusses the challenges of instability and explores solutions in energetically passive interactive dynamics and minimum stiffness proportional to exerted force.
ANNUAL REVIEW OF CONTROL ROBOTICS AND AUTONOMOUS SYSTEMS
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Article
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Yuanxi Sun et al.
Summary: The traditional VSA with motor-mechanism system and variable stiffness elastomer may be limited by mass and inertia, while the new PVSA incorporates a lightweight pneumatic elastomer and remote stiffness control system to overcome this limitation, as well as integrating metal springs to enhance its performance range. The PVSA's position, torque, and stiffness control performance have been theoretically and experimentally analyzed, showing its capability of providing expected actuation performance with effective remote stiffness adjustment.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Xiong Li et al.
Summary: The article introduces a novel structure-controlled approach for developing a new variable stiffness robotic joint, achieving stiffness variation through adjustment of mechanical structure configuration. The stiffness variation is accomplished by changing the effective second moment of area by rotating a combination of leaf flexure hinges arranged in a radial configuration.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
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Yapeng Xu et al.
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.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
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Article
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Riccardo Mengacci et al.
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
Yapeng Xu et al.
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
Engineering, Mechanical
Yiwei Liu et al.
Summary: The paper designs a novel variable stiffness actuator (VSA) to provide safer physical human-robot interaction for collaborative robotics. By adopting modular design and stiffness adjustment mechanism, the VSA can achieve stiffness change from zero to infinity, and experiments demonstrate its performance.
FRONTIERS OF MECHANICAL ENGINEERING
(2021)
Proceedings Paper
Automation & Control Systems
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
Zhangxing Liu et al.
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)
(2021)
Proceedings Paper
Automation & Control Systems
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
Computer Science, Information Systems
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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Jiantao Sun et al.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2018)
Review
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IEEE-ASME TRANSACTIONS ON MECHATRONICS
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Wesley Roozing et al.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2016)