A novel mechanism for varying stiffness via changing transmission angle

@article{Quy2011ANM,
  title={A novel mechanism for varying stiffness via changing transmission angle},
  author={Hung Vu Quy and Lijin Aryananda and Farrukh Iqbal Sheikh and Flurin Casanova and Rolf Pfeifer},
  journal={2011 IEEE International Conference on Robotics and Automation},
  year={2011},
  pages={5076-5081}
}
Compliant actuation contributes enormously in legged locomotion robotics since it is able to alleviate control efforts in improving the robot's adaptability and energy efficiency. In this paper, we present a novel design of a variable stiffness rotary actuator, called MESTRAN, which was especially targeted to address the limitations in terms of the amount of energy and time required to vary the stiffness of an actuated joint. We have constructed a mechanical model in simulation and a physical… CONTINUE READING