Variable Stiffness Actuators for Fast and Safe Motion Control
- Cite this paper as:
- Bicchi A., Tonietti G., Bavaro M., Piccigallo M. (2005) Variable Stiffness Actuators for Fast and Safe Motion Control. In: Dario P., Chatila R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg
In this paper we propose Variable Stiffness actuation  as a viable mechanical/ control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.
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