Development and control of a variable stiffness actuator using a variable radius gear transmission mechanism

@article{Chang2017DevelopmentAC,
  title={Development and control of a variable stiffness actuator using a variable radius gear transmission mechanism},
  author={Handdeut Chang and Sangjoon Jonathan Kim and Youngjin Na and Junghoon Park and Jung Hyun Kim},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={4749-4755}
}
The closer distance between robots and human partners in the same space makes compliant robots essential in these days. While torque sensor based impedance control scheme suffers from insufficient bandwidth, musculoskeletal systems can achieve similar ability with smaller resources by using mechanically guaranteed dynamics. In this study, inspired by active stiffness mechanism of biological muscle, we developed a variable stiffness actuator which can realize precise joint stiffness without… CONTINUE READING