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

Hong Seon Yu, Jae Bok Song

    Research output: Contribution to journalArticlepeer-review

    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 languageEnglish
    Pages (from-to)1195-1200
    Number of pages6
    JournalTransactions of the Korean Society of Mechanical Engineers, A
    Volume37
    Issue number10
    DOIs
    Publication statusPublished - 2013 Oct

    Keywords

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

    ASJC Scopus subject areas

    • Mechanical Engineering

    Fingerprint

    Dive into the research topics of 'Small-sized variable stiffness actuator module based on adjustable moment arm'. Together they form a unique fingerprint.

    Cite this