NDLI: A novel actuator with adjustable stiffness (AwAS)

Content Provider	IEEE Xplore Digital Library
Author	Jafari, A. Tsagarakis, N.G. Vanderborght, B. Caldwell, D.G.
Copyright Year	2010
Description	Author affiliation: Italian Institute of Technology (IIT), 16163, Genova, Italy (Jafari, A.; Tsagarakis, N.G.; Vanderborght, B.; Caldwell, D.G.)
Abstract	This paper describes the design and development of a new actuator with adjustable stiffness (AwAS) which can be used in robots which are necessary to work close to or physically interact with humans, e.g. humanoids and exoskeletons. The actuator presented in this work can independently control equilibrium position and stiffness by two motors. The first motor controls the equilibrium position while the second motor regulates the compliance. The novelty of the proposed design with respect to the existing systems is on the principle used to regulate the compliance. This is done not through the tuning of the pretension of the elastic element as in the majority of existing system but by controlling the fixation of the elastic elements (springs) using a linear drive. An important consequence of this approach is that the displacement needed to change the stiffness is perpendicular to the forces generated by the springs, thus this helps to minimize the energy/power required to change the stiffness. This permits the use of a small motor for the stiffness adjustment resulting in a lighter setup. Experimental results are presented to show the ability of AwAS to control position and regulate the stiffness independently.
Starting Page	4201
Ending Page	4206
File Size	1999551
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5648902
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Springs Actuators Joints Torque DC motors Robots Force
Content Type	Text
Resource Type	Article

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