Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device

@article{Luca2009NonlinearDM,
  title={Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device},
  author={Alessandro De Luca and Fabrizio Flacco and Antonio Bicchi and Riccardo Schiavi},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={5487-5494}
}
Variable Stiffness Actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative… CONTINUE READING

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