Vanderborght, B. and Albu-Schäffer, A. and Bicchi, A. and Burdet, E. and Caldwell, D. and Carloni, R. and Catalano, M. and Eiberger, O. and Friedl, W. and Ganesh, G. and Garabini, M. and Grebenstein, M. and Grioli, G. and Haddadin, S. and Höppner, H. and Jafari, A. and Laffranchi, M. and Lefeber, D. and Petit, F. and Stramigioli, S. and Tsagarakise, N. and van Damme, M. and van Ham, R. and Visser, L.C. and Wolf, S. (2013) Variable Impedance Actuators: a Review. Robotics and Autonomous Systems. ISSN 0921-8890.
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Official URL: http://dx.doi.org/10.1016/j.robot.2013.06.009
Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA’s to be guided in the design and implementation process for their targeted application.
|Title:||Variable Impedance Actuators: a Review|
|Date:||6 August 2013|
|Journal or Publication Title:||Robotics and Autonomous Systems|
|In ISI Web of Science:||Yes|
|Series Name:||Online publication|
|Keywords:||Variable impedance actuators; Soft robotics|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Space|
|HGF - Program Themes:||Space Technology|
|DLR - Research area:||Raumfahrt|
|DLR - Program:||R SY - Technik für Raumfahrtsysteme|
|DLR - Research theme (Project):||R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Mechatronic Components and Systems|
Institute of Robotics and Mechatronics
|Deposited By:||Gabriele Beinhofer|
|Deposited On:||31 Oct 2013 14:49|
|Last Modified:||11 Dec 2013 17:05|
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