Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction

@article{Tonietti2005DesignAC,
  title={Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction},
  author={Giovanni Tonietti and Riccardo Schiavi and Antonio Bicchi},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  year={2005},
  pages={526-531}
}
This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans, implementing criteria established in our previous work [1] on optimal mechanical-control co-design for intrinsically safe, yet performant machines. In our Variable Impedance Actuation (VIA) approach, actuators control in real-time both the reference position and the mechanical impedance of the moving parts in the machine in such a way to optimize performance while… CONTINUE READING
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