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Variable stiffness actuators: The user’s point of view

Grioli, G. and Wolf, Sebastian and Garabini, M. and Catalano, M. and Burdet, Etienne and Caldwell, D. and Carloni, R. and Friedl, Werner and Grebenstein, Markus and Laffranchi, M. and Lefeber, D. and Stramigioli, S. and Tsagarakis, N. and Van Damme, M. and Vanderborght, B. and Albu-Schäffer, Alin and Bicchi, Antonio (2015) Variable stiffness actuators: The user’s point of view. The International Journal of Robotics Research, pp. 1-17. SAGE Publications. doi: 10.1177/0278364914566515. ISSN 0278-3649.

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Since their introduction in the early years of this century, variable stiffness actuators (VSA) witnessed a sustained growth of interest in the research community, as shown by the growing number of publications. While many consider VSA very interesting for applications, one of the factors hindering their further diffusion is the relatively new conceptual structure of this technology. When choosing a VSA for their application, educated practitioners, who are used to choosing robot actuators based on standardized procedures and uniformly presented data, would be confronted with an inhomogeneous and rather disorganized mass of information coming mostly from scientific publications. In this paper, the authors consider how the design procedures and data presentation of a generic VSA could be organized so as to minimize the engineer’s effort in choosing the actuator type and size that would best fit the application needs. The reader is led through the list of the most important parameters that will determine the ultimate performance of their VSA robot, and influence both the mechanical design and the controller shape. This set of parameters extends the description of a traditional electric actuator with quantities describing the capability of the VSA to change its output stiffness. As an instrument for the end-user, the VSA datasheet is intended to be a compact, self-contained description of an actuator that summarizes all of the salient characteristics that the user must be aware of when choosing a device for their application. At the end some examples of compiled VSA datasheets are reported, as well as a few examples of actuator selection procedures.

Item URL in elib:https://elib.dlr.de/95948/
Document Type:Article
Title:Variable stiffness actuators: The user’s point of view
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Grioli, G.University of Pisa, ItalyUNSPECIFIEDUNSPECIFIED
Garabini, M.University of Pisa, ItalyUNSPECIFIEDUNSPECIFIED
Catalano, M.University of Pisa, Italy; Istituto Italiano di Tecnologia, ItalyUNSPECIFIEDUNSPECIFIED
Burdet, EtienneDepartment of Bioengineering, Imperial College LondonUNSPECIFIEDUNSPECIFIED
Caldwell, D.Istituto Italiano di Tecnologia, ItalyUNSPECIFIEDUNSPECIFIED
Carloni, R.University of Twente, NetherlandsUNSPECIFIEDUNSPECIFIED
Laffranchi, M.Istituto Italiano di Tecnologia, ItalyUNSPECIFIEDUNSPECIFIED
Lefeber, D.Vrije Universiteit Brussel, BelgiumUNSPECIFIEDUNSPECIFIED
Stramigioli, S.University of Twente, NetherlandsUNSPECIFIEDUNSPECIFIED
Tsagarakis, N.Istituto Italiano di Tecnologia, ItalyUNSPECIFIEDUNSPECIFIED
Van Damme, M.Vrije Universiteit Brussel, BelgiumUNSPECIFIEDUNSPECIFIED
Vanderborght, B.Vrije Universiteit Brussel, BelgiumUNSPECIFIEDUNSPECIFIED
Bicchi, AntonioInterdepartmental Research Center “E. Piaggio”, Faculty of Engineering, University of PisaUNSPECIFIEDUNSPECIFIED
Date:17 March 2015
Journal or Publication Title:The International Journal of Robotics Research
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-17
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:SAGE Publications
Keywords:Soft robotics, variable stiffness actuator, variable impedance actuation, physical human–robot interaction
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Wolf, Dipl.-Ing. Sebastian
Deposited On:30 Apr 2015 13:29
Last Modified:20 Jun 2021 15:46

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