Energy-Efficient Variable Stiffness Actuators

Visser, Ludo C.; Carloni, Raffaella; Stramigioli, Stefano

doi:10.1109/tro.2011.2150430

Cited by 157 publications

(75 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [7] an energy efficient actuator is achieved by a combination of an Infinite Variable Transmission and an elastic element. In AwAS [8], AwAS-II [9], vsaUT [10] and vsaUT-II [11] systems were developed where the adaptation of stiffness is achieved with little energy consumption. In the Maccepa [12] and Maccepa 2.0 [13] an easy to construct VIA was obtained, which can be constructed with off-the-shelf components.…”

Section: Variable Impedance Actuatorsmentioning

confidence: 99%

Variable impedance actuators: Moving the robots of tomorrow

Vanderborght

Bicchi

Burdet

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Section: Variable Impedance Actuatorsmentioning

confidence: 99%

Variable impedance actuators: Moving the robots of tomorrow

Vanderborght

Bicchi

Burdet

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

“…Some designs rely on changing the transmission ratio between the output and the internal elastic elements. The AwAS-II [5], CompAct-VSA [6], CompAct-ARS [7], HDAU [8], the vsaUT [9], the vsaUT-II [10], and the mVSA-UT [11] use a lever arm of variable effective length to regulate the transmission ratio. As is elaborated in [12], the output stiffness of these variable stiffness actuators can be changed without any energy injection into or extraction from the internal elastic elements.…”

Section: Introductionmentioning

confidence: 99%

Conceptual Design and Analysis of Four Types of Variable Stiffness Actuators Based on Spring Pretension

Guo

Tian

2015

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

The variable stiffness actuator (VSA) is an open research field. This paper introduces the conceptual design and analysis of four types of novel variable stiffness actuators (VSAs). The main novelty of this paper is focused on the convenience control of the torque and stiffness of the actuator. We do not need to design complicated control strategies to achieve the desired actuating torque and output stiffness. This feature is beneficial for real-time control. In order to achieve this advantage, three types of approximate quadratic springs and four types of stiffness regulation mechanisms are presented. For the first VSA, the relationship between the output stiffness and angular deflection is close to linear, and the fitted quadratic spring is easy to implement and compact. For the second VSA, the output stiffness is only related to the working radius, and the relationship between the exerted torque and angular deflection is linear. For the third VSA, two equivalent quadratic torsion springs are used. Compared with the existing quadratic torsion springs, the design method is simple and the structure size is compact. The stiffness and torque is a linear function of the kinematic parameters of the VSA. The novelty of the fourth VSA is the use of the tension spring set. The approximate quadratic tension spring is compact and easy to implement. The relationship between the output stiffness and the angular deflection is fairly linear. The conceptual layouts and working principles are elaborated for the four actuators. The characteristics of torque and stiffness of the VSAs are presented, and the mechanical solutions are illustrated.

show abstract

“…Visser et al [61] demonstrated that the output stiffness of a linear spring can be changed by changing the effective lever arm without adding energy. A similar setup can be used at a (knee) joint.…”

Section: Controllable Spring Conceptmentioning

confidence: 99%

“…In robotics, studies on energy efficient actuation are not uncommon [61][62][63], but in prosthetics this is not the case. In this study we address the usability of energy efficient variable stiffness actuation for control of a prosthetic knee in the rejection of the consequence of an unlocked knee at heel strike.…”

Section: Introductionmentioning

confidence: 99%

“…Visser at al. [61] designed a VSA setup which allows the apparent output stiffness of the actuator to be changed without changing the potential energy stored in the elastic elements. Another actuator concept, the V2E2, was proposed by Stramigioli et al [75], which describes the combination of an Infinite Variable Transmission and an elastic element, to reduce energy loss during negative work done by the actuator.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Feasibility of enhanced user control and feedback in upper leg prostheses

Wentink¹

View full text Add to dashboard Cite

Energy-Efficient Variable Stiffness Actuators

Cited by 157 publications

References 15 publications

Variable impedance actuators: Moving the robots of tomorrow

Variable impedance actuators: Moving the robots of tomorrow

Conceptual Design and Analysis of Four Types of Variable Stiffness Actuators Based on Spring Pretension

Feasibility of enhanced user control and feedback in upper leg prostheses

Contact Info

Product

Resources

About