Variable Stiffness Actuators for Fast and Safe Motion Control

  • Antonio Bicchi
  • Giovanni Tonietti
  • Michele Bavaro
  • Marco Piccigallo
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 15)

Abstract

In this paper we propose Variable Stiffness actuation [1] 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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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Antonio Bicchi
    • 1
  • Giovanni Tonietti
    • 1
  • Michele Bavaro
    • 1
  • Marco Piccigallo
    • 1
  1. 1.Centro Interdipartimentale di Ricerca “E. Piaggio”Università di PisaItaly

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