The DOI matches its Crossref record; 26 of the 26 references it cites were found in a registry or an index.
Variable Stiffness Actuators: Review on Design and Components
Open accessAbstract
Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.
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Cites
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Efficient Bipedal Robots Based on Passive-Dynamic Walkers
Collins, S., Ruina, A., Tedrake, R., & Wisse, M. (2005) · Science · doi:10.1126/science.1107799 · Cited by 1,873
Variable impedance actuators: A review
Vanderborght, B., Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M., Eiberger, O., Friedl, W., Ganesh, G., et al. (2013) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2013.06.009 · Cited by 1,008
Self-citationImpedance Control: An Approach to Manipulation: Part II—Implementation
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140713 · Cited by 973
Bicchi, A., & Tonietti, G. (2004) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2004.1310939 · Cited by 654
Self-citationTonietti, G., Schiavi, R., & Bicchi, A. (2006) · Proceedings of the 2005 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2005.1570172 · Cited by 539
Self-citationDesign Principles for Energy-Efficient Legged Locomotion and Implementation on the MIT Cheetah Robot
Seok, S., Wang, A., Chuah, M. Y., Hyun, D. J., Lee, J., Otten, D. M., Lang, J. H., & Kim, S. (2015) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2014.2339013 · Cited by 517
Grebenstein, M., Albu-Schaffer, A., Bahls, T., Chalon, M., Eiberger, O., Friedl, W., Gruber, R., Haddadin, S., Hagn, U., Haslinger, R., et al. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980371 · Cited by 436
Self-citationExperiments in Balance with a 3D One-Legged Hopping Machine
Raibert, M. H., Brown, H. B., & Chepponis, M. (1984) · The International Journal of Robotics Research · doi:10.1177/027836498400300207 · Cited by 431
Design and Control Considerations for High-Performance Series Elastic Actuators
Paine, N., Oh, S., & Sentis, L. (2014) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2270435 · Cited by 405
Cited by
Phan, V. D., Vo, C. P., & Ahn, K. K. (2024) · International Journal of Robust and Nonlinear Control · doi:10.1002/rnc.7412 · Cited by 30
Metadata
- Authors
- Wolf, S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Lefeber, D., Stramigioli, S., Tsagarakis, N., Van Damme, M., Van Ham, R., Vanderborght, B., Visser, L. C., Bicchi, A., & Albu-Schaffer, A.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2016-10
- Volume
- 21
- Issue
- 5
- Pages
- 2418-2430
- ISSN
- 1083-4435 (ISSN-L)
- 1941-014X
- OpenAlex
- W2333868129
- Cited by
- 459
- References
- 26
- FWCI
- 10.85
- Type
- journal article
- Language
- en
- Open access
- green
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- Wolf, S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Lefeber, D., Stramigioli, S., Tsagarakis, N., Van Damme, M., Van Ham, R., Vanderborght, B., Visser, L. C., Bicchi, A., & Albu-Schaffer, A. (2016). Variable Stiffness Actuators: Review on Design and Components. IEEE/ASME Transactions on Mechatronics. https://doi.org/10.1109/tmech.2015.2501019
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
