"Design and Control of a Novel Variable Stiffness Series Elastic Actuat" by Emre Sariyildiz, Rahim Mutlu et al.
This article expounds the design and control of a new variable stiffness series elastic actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimize the stiffness modulation characteristics and power density of the actuator. The proposed VSSEA possesses the following features: no limitation in the work range of output link; a wide range of stiffness modulation (∼20 N·m/rad to ∼1 KN·m/rad); low-energy-cost stiffness modulation ...
Ompliant Robotics Hysical Robot Environment Interaction Afe Robotics Eries Elastic Actuators Seas Solid Modeling Ariable Stiffness Actuators Vsas
Source: uow.edu.au