The mVSA-UT: a miniaturized differential mechanism for a continuous rotational variable stiffness actuator

Matteo Fumagalli; Eamon Barrett; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/BioRob.2012.6290686

The mVSA-UT: a miniaturized differential mechanism for a continuous rotational variable stiffness actuator

Matteo Fumagalli, Eamon Barrett, Stefano Stramigioli, Raffaella Carloni

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

43 Citations (Scopus)

Abstract

In this paper, we present the mechanical design of the mVSA-UT, a miniaturized variable stiffness actuator. The apparent output stiffness of this innovative actuation system can be changed independently of the output position by varying the transmission ratio between the internal mechanical springs and the actuator output. The output stiffness can be tuned from zero to almost infinite by moving a pivot point along a lever arm. The mVSA-UT is actuated by means of two motors, connected in a differential configuration, which both work together to change the output stiffness and the output position. The output shaft can perform unbounded and continuous rotation. The design ensures high output torque capability, light weight and compact size to realize a multiple purpose actuation unit for a great variety of robotic and biomechatronic applications.

Original language	English
Title of host publication	Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012
Place of Publication	USA
Publisher	IEEE
Pages	1943-1948
Number of pages	6
ISBN (Print)	978-1-4577-1200-5
DOIs	https://doi.org/10.1109/BioRob.2012.6290686
Publication status	Published - Jun 2012
Event	4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012 Conference number: 4

Conference

Conference	4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Abbreviated title	BioRob
Country/Territory	Italy
City	Rome
Period	24/06/12 → 27/06/12

Keywords

EWI-22187
METIS-287984

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10.1109/BioRob.2012.6290686

Cite this

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title = "The mVSA-UT: a miniaturized differential mechanism for a continuous rotational variable stiffness actuator",

abstract = "In this paper, we present the mechanical design of the mVSA-UT, a miniaturized variable stiffness actuator. The apparent output stiffness of this innovative actuation system can be changed independently of the output position by varying the transmission ratio between the internal mechanical springs and the actuator output. The output stiffness can be tuned from zero to almost infinite by moving a pivot point along a lever arm. The mVSA-UT is actuated by means of two motors, connected in a differential configuration, which both work together to change the output stiffness and the output position. The output shaft can perform unbounded and continuous rotation. The design ensures high output torque capability, light weight and compact size to realize a multiple purpose actuation unit for a great variety of robotic and biomechatronic applications.",

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author = "Matteo Fumagalli and Eamon Barrett and Stefano Stramigioli and Raffaella Carloni",

note = "10.1109/BioRob.2012.6290686 ; 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, BioRob ; Conference date: 24-06-2012 Through 27-06-2012",

year = "2012",

month = jun,

doi = "10.1109/BioRob.2012.6290686",

language = "English",

isbn = "978-1-4577-1200-5",

pages = "1943--1948",

booktitle = "Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012",

publisher = "IEEE",

address = "United States",

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Fumagalli, M, Barrett, E, Stramigioli, S & Carloni, R 2012, The mVSA-UT: a miniaturized differential mechanism for a continuous rotational variable stiffness actuator. in Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. IEEE, USA, pp. 1943-1948, 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290686

The mVSA-UT: a miniaturized differential mechanism for a continuous rotational variable stiffness actuator. / Fumagalli, Matteo; Barrett, Eamon; Stramigioli, Stefano et al.
Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. USA: IEEE, 2012. p. 1943-1948.

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

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N1 - Conference code: 4

PY - 2012/6

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N2 - In this paper, we present the mechanical design of the mVSA-UT, a miniaturized variable stiffness actuator. The apparent output stiffness of this innovative actuation system can be changed independently of the output position by varying the transmission ratio between the internal mechanical springs and the actuator output. The output stiffness can be tuned from zero to almost infinite by moving a pivot point along a lever arm. The mVSA-UT is actuated by means of two motors, connected in a differential configuration, which both work together to change the output stiffness and the output position. The output shaft can perform unbounded and continuous rotation. The design ensures high output torque capability, light weight and compact size to realize a multiple purpose actuation unit for a great variety of robotic and biomechatronic applications.

AB - In this paper, we present the mechanical design of the mVSA-UT, a miniaturized variable stiffness actuator. The apparent output stiffness of this innovative actuation system can be changed independently of the output position by varying the transmission ratio between the internal mechanical springs and the actuator output. The output stiffness can be tuned from zero to almost infinite by moving a pivot point along a lever arm. The mVSA-UT is actuated by means of two motors, connected in a differential configuration, which both work together to change the output stiffness and the output position. The output shaft can perform unbounded and continuous rotation. The design ensures high output torque capability, light weight and compact size to realize a multiple purpose actuation unit for a great variety of robotic and biomechatronic applications.

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M3 - Conference contribution

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BT - Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012

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Y2 - 24 June 2012 through 27 June 2012

ER -

The mVSA-UT: a miniaturized differential mechanism for a continuous rotational variable stiffness actuator

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Keywords

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