Analysis of a variable stiffness differential drive (VSDD)

Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni

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

    2 Citations (Scopus)


    In robotics, differential mechanisms are widely used when lightweightness and compactness are a requisite for the robot design. Moreover, the last decades have seen the rise of (variable) compliant acuators as important elements to perform safe interaction and dynamic tasks. This paper introduces a Variable Stiffness Differential Drive (VSDD), i.e., a differential transmissions with variable stiffness actuators (VSAs), and presents a dynamic analysis. The analysis shows that, when variable stiffness actuators are used in coupled differential transmissions, the allowable stiffness range at the output of the system depends on the position of the springs inside the device. In particular, independent output joint stiffness can be obtained by dislocating the actuation from the elastic elements.
    Original languageUndefined
    Title of host publicationProceedings of the International Conference on Robotics and Automation
    Place of PublicationUSA
    Number of pages6
    ISBN (Print)978-1-4799-3685-4
    Publication statusPublished - Jun 2014
    Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
    Duration: 31 May 20147 Jun 2014


    Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    Abbreviated titleICRA
    CityHong Kong


    • EWI-25117
    • METIS-306045

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