Energy-Efficient Variable Stiffness Actuators

@article{Visser2011EnergyEfficientVS,
  title={Energy-Efficient Variable Stiffness Actuators},
  author={Ludo C. Visser and Raffaella Carloni and Stefano Stramigioli},
  journal={IEEE Transactions on Robotics},
  year={2011},
  volume={27},
  pages={865-875}
}
Variable stiffness actuators are a particular class of actuators that is characterized by the property that the apparent output stiffness can be changed independent of the output position. To achieve this, variable stiffness actuators consist of a number of elastic elements and a number of actuated degrees of freedom, which determine how the elastic elements are perceived at the actuator output. Changing the apparent output stiffness is useful for a broad range of applications, which explains… CONTINUE READING
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