NDLI: How design can affect the energy required to regulate the stiffness in variable stiffness actuators

Content Provider	IEEE Xplore Digital Library
Author	Jafari, A. Tsagarakis, N.G. Sardellitti, I. Caldwell, D.G.
Copyright Year	2012
Description	Author affiliation: Istituto Italiano di Tecnologia (IIT), 16163, Genova, Italy (Tsagarakis, N.G.; Sardellitti, I.; Caldwell, D.G.) \|\| Swiss Federal Insitute of Technology (ETHZ), CH-8092, Zurich, Switzerland (Jafari, A.)
Abstract	Variable stiffness actuators have been developed based on different design solutions which can be arranged into two groups: antagonistic and series design. In both the cases two actuation units are combined with passive elastic elements to adjust both the stiffness and the equilibrium position of the actuated joint. To regulate the stiffness, mechanical work is required to be done which depending on the design principle of the actuator results in certain energy consumption. In this paper different variable stiffness design approaches with different types of springs (linear, quadratic, exponential and cubic) are analyzed and compared with respect to the energy required to regulate the stiffness. The results give some insights about the design parameters which mostly affect the energy consumption for the stiffness adjustment. In this work, it is shown that among different design and spring arrangements, the variable stiffness in series design which uses linear springs with constant pretension, requires the minimum energy consumption to adjust the stiffness.
Starting Page	2792
Ending Page	2797
File Size	927373
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224946
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Springs Force Torque Couplings Actuators Joints Energy consumption
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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