Abstract
In recent years, variable stiffness actuation has attracted much attention because interaction between a robot and the environment is increasingly required for various robot tasks. Several variable stiffness actuators (VSAs) have been developed; however, they find limited applications owing to their size and weight. For realizing their widespread use, we developed a compact and lightweight mini-VSA. The mini-VSA consists of a control module based on an adjustable moment arm mechanism and a drive module with two motors. By controlling the relative motion of cams in the control module, the position and stiffness can be simultaneously controlled. Experimental results are presented to show its ability to change stiffness.
Original language | English |
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Pages (from-to) | 1195-1200 |
Number of pages | 6 |
Journal | Transactions of the Korean Society of Mechanical Engineers, A |
Volume | 37 |
Issue number | 10 |
DOIs | |
Publication status | Published - 2013 Oct |
Keywords
- Adjustable Moment Arm
- Lever Arm Mechanism
- Stiffness Control
- Variable Stiffness Actuator
ASJC Scopus subject areas
- Mechanical Engineering