The DOI matches its Crossref record; 26 of the 26 references it cites were found in a registry or an index.
Compliant actuator designs
Abstract
In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking k robots, variable stiffness actuators (VSAs) or adjustable compliant actuators are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user, and their ability to store and release energy in passive elastic elements. This review article describes the state of the art in the design of actuators with adaptable passive compliance. This new type of actuator is not preferred for classical position-controlled applications such as pick and place operations but is preferred in novel robots where safe human- robot interaction is required or in applications where energy efficiency must be increased by adapting the actuator's resonance frequency. The working principles of the different existing designs are explained and compared. The designs are divided into four groups: equilibrium-controlled stiffness, antagonistic-controlled stiffness, structure-controlled stiffness (SCS), and mechanically controlled stiffness.
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Cites
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Robla-Gomez, S., Becerra, V. M., Llata, J. R., Gonzalez-Sarabia, E., Torre-Ferrero, C., & Perez-Oria, J. (2017) · IEEE Access · doi:10.1109/access.2017.2773127 · Cited by 589
Materials for Smart Soft Actuator Systems
Apsite, I., Salehi, S., & Ionov, L. (2022) · Chemical Reviews · doi:10.1021/acs.chemrev.1c00453 · Cited by 357
Stability Considerations for Variable Impedance Control
Kronander, K., & Billard, A. (2016) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2593492 · Cited by 284
Metallic molybdenum disulfide nanosheet-based electrochemical actuators
Acerce, M., Akdoğan, E. K., & Chhowalla, M. (2017) · Nature · doi:10.1038/nature23668 · Cited by 280
Adaptive Command-Filtered Backstepping Control of Robot Arms With Compliant Actuators
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Metadata
- Authors
- Ham, R., Sugar, T., Vanderborght, B., Hollander, K., & Lefeber, D.
- Venue
- IEEE Robotics & Automation Magazine
- Published
- 2009-09
- Volume
- 16
- Issue
- 3
- Pages
- 81-94
- ISSN
- 1070-9932 (ISSN-L)
- OpenAlex
- W2169100281
- Cited by
- 834
- References
- 26
- FWCI
- 19.60
- Type
- journal article
- Language
- en
- Open access
- closed
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