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Variable Stiffness Actuators: Review on Design and Components

Wolf, Sebastian and Grioli, G. and Eiberger, Oliver and Friedl, Werner and Grebenstein, Markus and Höppner, Hannes and Burdet, Etienne and Caldwell, D. and Carloni, R. and Catalano, M. and Lefeber, D. and Stramigioli, S. and Tsagarakis, N. and Van Damme, M. and Van Ham, R. and Vanderborght, B. and Visser, L.C. and Bicchi, Antonio and Albu-Schäffer, Alin (2015) Variable Stiffness Actuators: Review on Design and Components. IEEE-ASME Transactions on Mechatronics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TMECH.2015.2501019. ISSN 1083-4435.

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Official URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516


Variable Stiffness Actuators (VSA) are complex mechatronic devices, which are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally the dependencies of control, models, sensor setup, and sensor quality are addressed.

Item URL in elib:https://elib.dlr.de/99795/
Document Type:Article
Title:Variable Stiffness Actuators: Review on Design and Components
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Wolf, SebastianSebastian.Wolf (at) DLR.deUNSPECIFIED
Grioli, G.University of Pisa, ItalyUNSPECIFIED
Eiberger, OliverOliver.Eiberger (at) dlr.deUNSPECIFIED
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Grebenstein, MarkusMarkus.Grebenstein (at) dlr.deUNSPECIFIED
Höppner, Hanneshannes.hoeppner (at) dlr.deUNSPECIFIED
Burdet, EtienneDepartment 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
Lefeber, D.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Stramigioli, S.University of Twente, NetherlandsUNSPECIFIED
Tsagarakis, N.Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Van Damme, M.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Van Ham, R.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Vanderborght, B.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Visser, L.C.University of Twente, NetherlandsUNSPECIFIED
Bicchi, AntonioInterdepartmental Research Center “E. Piaggio”, Faculty of Engineering, University of PisaUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:17 November 2015
Journal or Publication Title:IEEE-ASME Transactions on Mechatronics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/TMECH.2015.2501019
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Soft Robotics, physical Human-Robot Interaction, Variable Impedance Actuators, Variable Stiffness Actuators
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), R - Robotische Assistenzsysteme (old), R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Wolf, Dipl.-Ing. Sebastian
Deposited On:08 Dec 2015 10:18
Last Modified:20 Jun 2021 15:47

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