Variable impedance actuators: a review

B. Vanderborght; A. Albu-Schäffer; A. Bicchi; E. Burdet; D.G. Caldwell; Raffaella Carloni; M. Catalano; O. Eiberger; W. Friedl; G. Ganesh; M. Garabini; M. Grebenstein; G. Grioli; S. Haddadin; H. Hoppner; A. Jafari; M. Laffranchi; D. Lefeber; F. Petit; S. Stramigioli; N. Tsagarakis; M. van Damme; R. ten Ham; L.C. Visser; S. Wolf

doi:10.1016/j.robot.2013.06.009

Variable impedance actuators: a review

B. Vanderborght, A. Albu-Schäffer, A. Bicchi, E. Burdet, D.G. Caldwell, Raffaella Carloni, M. Catalano, O. Eiberger, W. Friedl, G. Ganesh, M. Garabini, M. Grebenstein, G. Grioli, S. Haddadin, H. Hoppner, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. StramigioliN. Tsagarakis, M. van Damme, R. ten Ham, L.C. Visser, S. Wolf

Research output: Contribution to journal › Article › Academic › peer-review

763 Citations (Scopus)

929 Downloads (Pure)

Abstract

Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an un- known and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a clas- sification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combi- nations of them, which are then further divided into subclasses. This classi- fication allows for designers of new devices to orientate and take inspiration and users of VIA’s to be guided in the design and implementation process for their targeted application.

Original language	English
Pages (from-to)	1601-1614
Number of pages	39
Journal	Robotics and autonomous systems
Volume	61
Issue number	12
DOIs	https://doi.org/10.1016/j.robot.2013.06.009
Publication status	Published - Dec 2013

Keywords

EWI-23578
Variable impedance actuators
IR-86985
METIS-297776
Soft robotics

Access to Document

10.1016/j.robot.2013.06.009

Vanderborght2013variableAccepted author version, 1.44 MB

Cite this

Vanderborght, B., Albu-Schäffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M., Eiberger, O., Friedl, W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., ... Wolf, S. (2013). Variable impedance actuators: a review. Robotics and autonomous systems, 61(12), 1601-1614. https://doi.org/10.1016/j.robot.2013.06.009

@article{9dfbfced1c8f485caf23d242dff30422,

title = "Variable impedance actuators: a review",

abstract = "Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an un- known and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a clas- sification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combi- nations of them, which are then further divided into subclasses. This classi- fication allows for designers of new devices to orientate and take inspiration and users of VIA{\textquoteright}s to be guided in the design and implementation process for their targeted application.",

keywords = "EWI-23578, Variable impedance actuators, IR-86985, METIS-297776, Soft robotics",

author = "B. Vanderborght and A. Albu-Sch{\"a}ffer and A. Bicchi and E. Burdet and D.G. Caldwell and Raffaella Carloni and M. Catalano and O. Eiberger and W. Friedl and G. Ganesh and M. Garabini and M. Grebenstein and G. Grioli and S. Haddadin and H. Hoppner and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N. Tsagarakis and {van Damme}, M. and {ten Ham}, R. and L.C. Visser and S. Wolf",

year = "2013",

month = dec,

doi = "10.1016/j.robot.2013.06.009",

language = "English",

volume = "61",

pages = "1601--1614",

journal = "Robotics and autonomous systems",

issn = "0921-8890",

publisher = "Elsevier",

number = "12",

}

Vanderborght, B, Albu-Schäffer, A, Bicchi, A, Burdet, E, Caldwell, DG, Carloni, R, Catalano, M, Eiberger, O, Friedl, W, Ganesh, G, Garabini, M, Grebenstein, M, Grioli, G, Haddadin, S, Hoppner, H, Jafari, A, Laffranchi, M, Lefeber, D, Petit, F, Stramigioli, S, Tsagarakis, N, van Damme, M, ten Ham, R, Visser, LC & Wolf, S 2013, 'Variable impedance actuators: a review', Robotics and autonomous systems, vol. 61, no. 12, pp. 1601-1614. https://doi.org/10.1016/j.robot.2013.06.009

TY - JOUR

T1 - Variable impedance actuators: a review

AU - Vanderborght, B.

AU - Albu-Schäffer, A.

AU - Bicchi, A.

AU - Burdet, E.

AU - Caldwell, D.G.

AU - Carloni, Raffaella

AU - Catalano, M.

AU - Eiberger, O.

AU - Friedl, W.

AU - Ganesh, G.

AU - Garabini, M.

AU - Grebenstein, M.

AU - Grioli, G.

AU - Haddadin, S.

AU - Hoppner, H.

AU - Jafari, A.

AU - Laffranchi, M.

AU - Lefeber, D.

AU - Petit, F.

AU - Stramigioli, S.

AU - Tsagarakis, N.

AU - van Damme, M.

AU - ten Ham, R.

AU - Visser, L.C.

AU - Wolf, S.

PY - 2013/12

Y1 - 2013/12

N2 - Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an un- known and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a clas- sification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combi- nations of them, which are then further divided into subclasses. This classi- fication allows for designers of new devices to orientate and take inspiration and users of VIA’s to be guided in the design and implementation process for their targeted application.

AB - Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an un- known and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a clas- sification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combi- nations of them, which are then further divided into subclasses. This classi- fication allows for designers of new devices to orientate and take inspiration and users of VIA’s to be guided in the design and implementation process for their targeted application.

KW - EWI-23578

KW - Variable impedance actuators

KW - IR-86985

KW - METIS-297776

KW - Soft robotics

U2 - 10.1016/j.robot.2013.06.009

DO - 10.1016/j.robot.2013.06.009

M3 - Article

VL - 61

SP - 1601

EP - 1614

JO - Robotics and autonomous systems

JF - Robotics and autonomous systems

SN - 0921-8890

IS - 12

ER -

Variable impedance actuators: a review

Abstract

Keywords

Access to Document

Fingerprint

Cite this