Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human–robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted.
Design of a variable stiffness actuator based on flexures / G., Palli; Berselli, Giovanni; C., Melchiorri; G., Vassura. - In: JOURNAL OF MECHANISMS AND ROBOTICS. - ISSN 1942-4302. - ELETTRONICO. - 3:(2011), pp. 034501.1-034501.5. [10.1115/1.4004228]
Design of a variable stiffness actuator based on flexures
BERSELLI, Giovanni;
2011
Abstract
Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human–robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted.
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