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Variable Impedance Actuators: a Review

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.

Document Type:Article
Title:Variable Impedance Actuators: a Review
AuthorsInstitution or Email of Authors
Vanderborght, B. Vrije Universiteit Brussel, Belgium
Albu-Schäffer, A.UNSPECIFIED
Bicchi, A.University of Pisa, Italy; Istituto Italiano di Tecnologia, Italy
Burdet, E.Department of Bioengineering, Imperial College London
Caldwell, D. Istituto Italiano di Tecnologia, Italy
Carloni, R.University of Twente, Netherlands
Catalano, M.University of Pisa, Italy; Istituto Italiano di Tecnologia, Italy
Ganesh, G.Imperial College London, United Kingdom
Garabini, M.University of Pisa, Italy
Grebenstein, M.UNSPECIFIED
Grioli, G.University of Pisa, Italy
Jafari, A.Istituto Italiano di Tecnologia, Italy
Laffranchi, M.Istituto Italiano di Tecnologia, Italy
Lefeber, D.Vrije Universiteit Brussel, Belgium
Stramigioli, S.University of Twente, Netherlands
Tsagarakise, N.Istituto Italiano di Tecnologia, Italy
van Damme, M.Vrije Universiteit Brussel, Belgium
van Ham, R.Vrije Universiteit Brussel, Belgium
Visser, L.C. University of Twente, Netherlands
Date:6 August 2013
Journal or Publication Title:Robotics and Autonomous Systems
Refereed publication:Yes
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
Location: Oberpfaffenhofen
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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