Small-sized variable stiffness actuator module based on adjustable moment arm

Hong Seon Yu, Jae Bok Song

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Pages (from-to)1195-1200
Number of pages6
JournalTransactions of the Korean Society of Mechanical Engineers, A
Issue number10
Publication statusPublished - 2013 Oct


  • Adjustable Moment Arm
  • Lever Arm Mechanism
  • Stiffness Control
  • Variable Stiffness Actuator

ASJC Scopus subject areas

  • Mechanical Engineering


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