A clutch mechanism for switching between position and stiffness control of a variable stiffness actuator

Marco Cempini, Matteo Fumagalli, Nicola Vitiello, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Variable stiffness actuators (VSA) are fostered in robotics for their capability to address physical interaction with a physically adjustable compliance, being advantageous in terms of efficiency, safety and adaptability to unknown environments. Here we introduce the concept of a switching VSA (sVSA), in which a single actuator is used to control the position or the stiffness of a robotic joint according to a mechanical switch. Despite not allowing simultaneous control of both quantities, this architecture has the potential to make the design lighter, requiring one continuously powered actuator, controllable in position, and one additional switch, activated only occasionally between two limit stages: the advantages are the separation of the motors power requirements and a simpler control. A first prototype of a 1-DoF revolute variable-stiffness joint has been built, based on the vsaUT-II developed at the University of Twente, with a novel clutch mechanism allowing continuous and efficient switching. The prototype proved functionality and feasibility of the sVSA concept.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1017-1022
Number of pages6
Volume2015-June
EditionJune
DOIs
Publication statusPublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period5/26/155/30/15

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Cempini, M., Fumagalli, M., Vitiello, N., & Stramigioli, S. (2015). A clutch mechanism for switching between position and stiffness control of a variable stiffness actuator. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 1017-1022). [7139301] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139301