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Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction
Abstract
This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans, implementing criteria established in our previous work [1] on optimal mechanical-control co-design for intrinsically safe, yet performant machines. In our Variable Impedance Actuation (VIA) approach, actuators control in real-time both the reference position and the mechanical impedance of the moving parts in the machine in such a way to optimize performance while intrinsically guaranteeing safety. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.
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Cited by
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments
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
Variable Stiffness Actuators: Review on Design and Components
Wolf, S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., et al. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2015.2501019 · Cited by 459
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Metadata
- Authors
- Tonietti, G., Schiavi, R., & Bicchi, A.
- Venue
- Proceedings of the 2005 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2006-01-18
- Pages
- 526-531
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2169706473
- Cited by
- 539
- References
- 0
- FWCI
- 39.80
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Tonietti, G., Schiavi, R., & Bicchi, A. (2006). Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction. Proceedings of the 2005 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2005.1570172
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