A novel energy-efficient rotational variable stiffness actuator

S. Rao, Raffaella Carloni, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    4 Citations (Scopus)
    18 Downloads (Pure)

    Abstract

    This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping constant the internal stored energy of the actuator. The principle of the actuator is an extension of the principle of translational energy-efficient actuator vsaUT. A prototype based on the principle has been designed, in which ball-bearings and linear slide guides have been used in order to reduce losses due to friction.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011
    Place of PublicationUSA
    PublisherIEEE Engineering in Medicine and Biology Society
    Pages8175-8178
    Number of pages4
    ISBN (Print)978-1-4244-4122-8
    DOIs
    Publication statusPublished - Aug 2011
    Event33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2011 - Boston Marriott Copley Place Hotel, Boston, United States
    Duration: 30 Aug 20113 Sep 2011
    Conference number: 33

    Publication series

    Name
    PublisherIEEE Engineering in Medicine & Biology Society

    Conference

    Conference33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2011
    Abbreviated titleEMBC
    CountryUnited States
    CityBoston
    Period30/08/113/09/11

    Keywords

    • METIS-278787
    • EWI-20487
    • EC Grant Agreement nr.: FP7/231554
    • IR-77997

    Cite this

    Rao, S., Carloni, R., & Stramigioli, S. (2011). A novel energy-efficient rotational variable stiffness actuator. In Proceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011 (pp. 8175-8178). USA: IEEE Engineering in Medicine and Biology Society. https://doi.org/10.1109/IEMBS.2011.6092016
    Rao, S. ; Carloni, Raffaella ; Stramigioli, Stefano. / A novel energy-efficient rotational variable stiffness actuator. Proceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011. USA : IEEE Engineering in Medicine and Biology Society, 2011. pp. 8175-8178
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    title = "A novel energy-efficient rotational variable stiffness actuator",
    abstract = "This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping constant the internal stored energy of the actuator. The principle of the actuator is an extension of the principle of translational energy-efficient actuator vsaUT. A prototype based on the principle has been designed, in which ball-bearings and linear slide guides have been used in order to reduce losses due to friction.",
    keywords = "METIS-278787, EWI-20487, EC Grant Agreement nr.: FP7/231554, IR-77997",
    author = "S. Rao and Raffaella Carloni and Stefano Stramigioli",
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    year = "2011",
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    doi = "10.1109/IEMBS.2011.6092016",
    language = "Undefined",
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    Rao, S, Carloni, R & Stramigioli, S 2011, A novel energy-efficient rotational variable stiffness actuator. in Proceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011. IEEE Engineering in Medicine and Biology Society, USA, pp. 8175-8178, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2011, Boston, United States, 30/08/11. https://doi.org/10.1109/IEMBS.2011.6092016

    A novel energy-efficient rotational variable stiffness actuator. / Rao, S.; Carloni, Raffaella; Stramigioli, Stefano.

    Proceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011. USA : IEEE Engineering in Medicine and Biology Society, 2011. p. 8175-8178.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    N2 - This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping constant the internal stored energy of the actuator. The principle of the actuator is an extension of the principle of translational energy-efficient actuator vsaUT. A prototype based on the principle has been designed, in which ball-bearings and linear slide guides have been used in order to reduce losses due to friction.

    AB - This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping constant the internal stored energy of the actuator. The principle of the actuator is an extension of the principle of translational energy-efficient actuator vsaUT. A prototype based on the principle has been designed, in which ball-bearings and linear slide guides have been used in order to reduce losses due to friction.

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    KW - EWI-20487

    KW - EC Grant Agreement nr.: FP7/231554

    KW - IR-77997

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    DO - 10.1109/IEMBS.2011.6092016

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    Rao S, Carloni R, Stramigioli S. A novel energy-efficient rotational variable stiffness actuator. In Proceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011. USA: IEEE Engineering in Medicine and Biology Society. 2011. p. 8175-8178 https://doi.org/10.1109/IEMBS.2011.6092016