A 2-DOF joint with coupled variable output stiffness

Daniël J. Tan; Dannis M. Brouwer; Matteo Fumagalli; Raffaella  Carloni

doi:10.1109/LRA.2016.2631730

A 2-DOF joint with coupled variable output stiffness

Daniël J. Tan, Dannis M. Brouwer, Matteo Fumagalli, Raffaella Carloni

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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 language	English
Pages (from-to)	366-372
Number of pages	7
Journal	IEEE Robotics and automation letters
Volume	2
Issue number	1
DOIs	https://doi.org/10.1109/LRA.2016.2631730
Publication status	Published - Jan 2017

Keywords

EC Grant Agreement nr.: FP7/600958
2023 OA procedure

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10.1109/LRA.2016.2631730

ArticleFinal published version, 1.5 MBLicence: Taverne

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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.",

keywords = "EC Grant Agreement nr.: FP7/600958, 2023 OA procedure",

author = "Tan, {Dani{\"e}l J.} and Brouwer, {Dannis M.} and Matteo Fumagalli and Raffaella Carloni",

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AU - Tan, Daniël J.

AU - Brouwer, Dannis M.

AU - Fumagalli, Matteo

AU - Carloni, Raffaella

PY - 2017/1

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N2 - 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.

AB - 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.

KW - EC Grant Agreement nr.: FP7/600958

KW - 2023 OA procedure

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DO - 10.1109/LRA.2016.2631730

M3 - Article

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SP - 366

EP - 372

JO - IEEE Robotics and automation letters

JF - IEEE Robotics and automation letters

IS - 1

ER -

A 2-DOF joint with coupled variable output stiffness

Abstract

Keywords

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