Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control

Stefan Groothuis; Raffaella Carloni; Stefano Stramigioli

doi:10.1109/AIM.2016.7576772

Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control

Stefan Groothuis, Raffaella Carloni, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

8 Citations (Scopus)

2 Downloads (Pure)

Abstract

This paper presents a proof of concept of a variable stiffness actuator (VSA) that uses only one (high power) input motor. In general, VSAs use two (high power) motors to be able to control both the output position and the output stiffness, which possibly results in a heavy, and bulky system. In this work, two small and light-weight clutches are used to lock either one of the degrees of freedom, allowing the other to be controlled by the input motor. These clutches are realized by friction belts that can engage to a surrounding cylinder. The clutches are operated by solenoids, and small bistable mechanisms ensure that no electrical energy is lost in keeping a degree of freedom locked or unlocked. An experiment with a prototype of the system is performed which validates the proof of concept of this Single Motor–VSA.

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Place of Publication	USA
Publisher	IEEE ROBOTICS AND AUTOMATION SOCIETY
Pages	234-239
Number of pages	6
ISBN (Print)	978-1-5090-2065-2
DOIs	https://doi.org/10.1109/AIM.2016.7576772
Publication status	Published - Jul 2016
Event	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - The Banff Centre, Alberta Duration: 12 Jul 2016 → 15 Jul 2016

Conference

Conference	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Abbreviated title	AIM
City	Alberta
Period	12/07/16 → 15/07/16

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10.1109/AIM.2016.7576772

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Groothuis, S., Carloni, R., & Stramigioli, S. (2016). Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control. In Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (pp. 234-239). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/AIM.2016.7576772

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title = "Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control",

abstract = "This paper presents a proof of concept of a variable stiffness actuator (VSA) that uses only one (high power) input motor. In general, VSAs use two (high power) motors to be able to control both the output position and the output stiffness, which possibly results in a heavy, and bulky system. In this work, two small and light-weight clutches are used to lock either one of the degrees of freedom, allowing the other to be controlled by the input motor. These clutches are realized by friction belts that can engage to a surrounding cylinder. The clutches are operated by solenoids, and small bistable mechanisms ensure that no electrical energy is lost in keeping a degree of freedom locked or unlocked. An experiment with a prototype of the system is performed which validates the proof of concept of this Single Motor–VSA.",

author = "Stefan Groothuis and Raffaella Carloni and Stefano Stramigioli",

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doi = "10.1109/AIM.2016.7576772",

language = "English",

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Groothuis, S, Carloni, R & Stramigioli, S 2016, Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control. in Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 234-239, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016, Alberta, 12/07/16. https://doi.org/10.1109/AIM.2016.7576772

Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control. / Groothuis, Stefan; Carloni, Raffaella; Stramigioli, Stefano.

Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2016. p. 234-239.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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