Variable stiffness actuators: review on design and components

Sebastian Wolf; Giorgio Grioli; Oliver Eiberger; Werner Friedl; Markus Grebenstein; Hannes Höppner; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Manuel G. Catalano; Dirk Lefeber; Stefano Stramigioli; Nikos Tsagarakis; Michaël van Damme; Ronald van Ham; Bram Vanderborght; L.C. Visser; Antonio Bicchi; Alin Albu-Schäffer

doi:10.1109/TMECH.2015.2501019

Variable stiffness actuators: review on design and components

Sebastian Wolf, Giorgio Grioli, Oliver Eiberger, Werner Friedl, Markus Grebenstein, Hannes Höppner, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Dirk Lefeber, Stefano Stramigioli, Nikos Tsagarakis, Michaël van Damme, Ronald van Ham, Bram Vanderborght, L.C. Visser, Antonio Bicchi, Alin Albu-Schäffer

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

264 Citations (Scopus)

3 Downloads (Pure)

Abstract

Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build pas- sively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.

Original language	Undefined
Pages (from-to)	2418-2430
Number of pages	13
Journal	IEEE/ASME transactions on mechatronics
Volume	21
Issue number	5
DOIs	https://doi.org/10.1109/TMECH.2015.2501019
Publication status	Published - Oct 2016

Keywords

EWI-27222
IR-101452
METIS-318520

Access to Document

10.1109/TMECH.2015.2501019

http://eprints.eemcs.utwente.nl/secure2/27222/01/07330025.pdf

Cite this

Wolf, S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Höppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Lefeber, D., Stramigioli, S., Tsagarakis, N., van Damme, M., van Ham, R., Vanderborght, B., Visser, L. C., Bicchi, A., & Albu-Schäffer, A. (2016). Variable stiffness actuators: review on design and components. IEEE/ASME transactions on mechatronics, 21(5), 2418-2430. https://doi.org/10.1109/TMECH.2015.2501019

@article{4321d635ad274d7c9252b0559dcdcdb0,

title = "Variable stiffness actuators: review on design and components",

abstract = "Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build pas- sively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.",

keywords = "EWI-27222, IR-101452, METIS-318520",

author = "Sebastian Wolf and Giorgio Grioli and Oliver Eiberger and Werner Friedl and Markus Grebenstein and Hannes H{\"o}ppner and Etienne Burdet and Caldwell, {Darwin G.} and Raffaella Carloni and Catalano, {Manuel G.} and Dirk Lefeber and Stefano Stramigioli and Nikos Tsagarakis and {van Damme}, Micha{\"e}l and {van Ham}, Ronald and Bram Vanderborght and L.C. Visser and Antonio Bicchi and Alin Albu-Sch{\"a}ffer",

note = "eemcs-eprint-27222 ",

year = "2016",

month = oct,

doi = "10.1109/TMECH.2015.2501019",

language = "Undefined",

volume = "21",

pages = "2418--2430",

journal = "IEEE/ASME transactions on mechatronics",

issn = "1083-4435",

publisher = "IEEE",

number = "5",

}

Wolf, S, Grioli, G, Eiberger, O, Friedl, W, Grebenstein, M, Höppner, H, Burdet, E, Caldwell, DG, Carloni, R, Catalano, MG, Lefeber, D, Stramigioli, S, Tsagarakis, N, van Damme, M, van Ham, R, Vanderborght, B, Visser, LC, Bicchi, A & Albu-Schäffer, A 2016, 'Variable stiffness actuators: review on design and components', IEEE/ASME transactions on mechatronics, vol. 21, no. 5, pp. 2418-2430. https://doi.org/10.1109/TMECH.2015.2501019

TY - JOUR

T1 - Variable stiffness actuators: review on design and components

AU - Wolf, Sebastian

AU - Grioli, Giorgio

AU - Eiberger, Oliver

AU - Friedl, Werner

AU - Grebenstein, Markus

AU - Höppner, Hannes

AU - Burdet, Etienne

AU - Caldwell, Darwin G.

AU - Carloni, Raffaella

AU - Catalano, Manuel G.

AU - Lefeber, Dirk

AU - Stramigioli, Stefano

AU - Tsagarakis, Nikos

AU - van Damme, Michaël

AU - van Ham, Ronald

AU - Vanderborght, Bram

AU - Visser, L.C.

AU - Bicchi, Antonio

AU - Albu-Schäffer, Alin

N1 - eemcs-eprint-27222

PY - 2016/10

Y1 - 2016/10

N2 - Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build pas- sively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.

AB - Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build pas- sively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.

KW - EWI-27222

KW - IR-101452

KW - METIS-318520

U2 - 10.1109/TMECH.2015.2501019

DO - 10.1109/TMECH.2015.2501019

M3 - Article

VL - 21

SP - 2418

EP - 2430

JO - IEEE/ASME transactions on mechatronics

JF - IEEE/ASME transactions on mechatronics

SN - 1083-4435

IS - 5

ER -