Variable Stiffness Actuators: Review on Design and Components

• Published in: IEEE/ASME transactions on mechatronics Vol. 21; no. 5; pp. 2418 - 2430
• Main Authors: Wolf, Sebastian, Grioli, Giorgio, Eiberger, Oliver, Friedl, Werner, Grebenstein, Markus, Hoppner, Hannes, Burdet, Etienne, Caldwell, Darwin G., Carloni, Raffaella, Catalano, Manuel G., Lefeber, Dirk, Stramigioli, Stefano, Tsagarakis, Nikos, Van Damme, Michael, Van Ham, Ronald, Vanderborght, Bram, Visser, Ludo C., Bicchi, Antonio, Albu-Schaffer, Alin
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Actuators; Design analysis; Design engineering; Impedance; Mathematical models; Mechatronics; Physical human–robot interaction; Robots; Sensors; soft robotics; Springs; Stiffness; Torque; Trajectory; variable impedance actuators (VIAs); variable stiffness actuators (VSAs)

Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper give...