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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. Elsevier. ISSN 0921-8890

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Official URL: http://dx.doi.org/10.1016/j.robot.2013.06.009

Abstract

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.

Item URL in elib:https://elib.dlr.de/84276/
Document Type:Article
Title:Variable Impedance Actuators: a Review
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Vanderborght, B. Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Albu-Schäffer, A.UNSPECIFIEDUNSPECIFIED
Bicchi, A.University of Pisa, Italy; Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Burdet, E.Department of Bioengineering, Imperial College LondonUNSPECIFIED
Caldwell, D. Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Carloni, R.University of Twente, NetherlandsUNSPECIFIED
Catalano, M.University of Pisa, Italy; Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Eiberger, O.UNSPECIFIEDUNSPECIFIED
Friedl, W.UNSPECIFIEDUNSPECIFIED
Ganesh, G.Imperial College London, United KingdomUNSPECIFIED
Garabini, M.University of Pisa, ItalyUNSPECIFIED
Grebenstein, M.UNSPECIFIEDUNSPECIFIED
Grioli, G.University of Pisa, ItalyUNSPECIFIED
Haddadin, S.UNSPECIFIEDUNSPECIFIED
Höppner, H.UNSPECIFIEDUNSPECIFIED
Jafari, A.Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Laffranchi, M.Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Lefeber, D.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Petit, F.UNSPECIFIEDUNSPECIFIED
Stramigioli, S.University of Twente, NetherlandsUNSPECIFIED
Tsagarakise, N.Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
van Damme, M.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
van Ham, R.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Visser, L.C. University of Twente, NetherlandsUNSPECIFIED
Wolf, S.UNSPECIFIEDUNSPECIFIED
Date:6 August 2013
Journal or Publication Title:Robotics and Autonomous Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Publisher:Elsevier
Series Name:Online publication
ISSN:0921-8890
Status:Published
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 (since 2013) > Mechatronic Components and Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:31 Oct 2013 14:49
Last Modified:06 Sep 2019 15:18

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