The vsaUT-II: A novel rotational variable stiffness actuator

Stefan Groothuis, G. Rusticelli, A. Zucchelli, Stefano Stramigioli, Raffaella Carloni

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

    44 Citations (Scopus)


    In this paper, the vsaUT-II, a novel rotational variable stiffness actuator, is presented. As the other designs in this class of actuation systems, the vsaUT-II is characterized by the property that the output stiffness can be changed independently of the output position. It consists of two internal elastic elements and two internal actuated degrees of freedom. The mechanical design of the vsaUT-II is such that the apparent output stiffness can be varied by changing the transmission ratio between the elastic elements and the output. This kinematic structure guarantees that the output stiffness can be changed without changing the potential energy stored internally in the elastic elements. This property is validated in simulations with the port-based model of the system and in experiments, through a proper control law design, on the prototype.
    Original languageUndefined
    Title of host publicationProceedings of the International Conference on Robotics and Automation
    Place of PublicationUSA
    Number of pages6
    ISBN (Print)1050-4729
    Publication statusPublished - May 2012
    Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
    Duration: 14 May 201218 May 2012


    Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
    Abbreviated titleICRA
    Country/TerritoryUnited States
    CitySt. Paul


    • EWI-22030
    • METIS-287921

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