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 proceedingConference contributionAcademicpeer-review

    33 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 languageEnglish
    Title of host publicationProceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages1943-1948
    Number of pages6
    ISBN (Print)978-1-4577-1200-5
    DOIs
    Publication statusPublished - Jun 2012
    Event4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy
    Duration: 24 Jun 201227 Jun 2012
    Conference number: 4

    Conference

    Conference4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
    Abbreviated titleBioRob
    CountryItaly
    CityRome
    Period24/06/1227/06/12

    Keywords

    • EWI-22187
    • METIS-287984

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