A 2-DOF joint with coupled variable output stiffness

Daniel J. Tan, Dannis Michel Brouwer, Matteo Fumagalli, Raffaella Carloni

Abstract

This paper presents a 2-degree-of-freedom (DOF) joint with coupled variable output stiffness that makes use of three actuators, i.e., two for the 2-D joint motions and one for the joint stiffness adjustment. By base-mounting the actuators and the variable stiffness module that contains the passive elastic elements, the design is compact and has low actuated inertia. Since the joint has coupled variable stiffness characteristic in the 2-DOF motions, the number of required actuators is reduced. The 2-DOF variable stiffness joint has been realized and experimentally tested.
Original languageEnglish
Pages (from-to)366-372
Number of pages7
JournalIEEE Robotics and automation letters
Volume2
Issue number1
DOIs
StatePublished - Jan 2017

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Stiffness
Degrees of freedom (mechanics)
Actuators
Mountings

Keywords

  • EWI-27581
  • IR-103189
  • EC Grant Agreement nr.: FP7/600958

Cite this

Tan, Daniel J.; Brouwer, Dannis Michel; Fumagalli, Matteo; Carloni, Raffaella / A 2-DOF joint with coupled variable output stiffness.

In: IEEE Robotics and automation letters, Vol. 2, No. 1, 01.2017, p. 366-372.

Research output: Scientific - peer-reviewArticle

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A 2-DOF joint with coupled variable output stiffness. / Tan, Daniel J.; Brouwer, Dannis Michel; Fumagalli, Matteo; Carloni, Raffaella .

In: IEEE Robotics and automation letters, Vol. 2, No. 1, 01.2017, p. 366-372.

Research output: Scientific - peer-reviewArticle

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