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• W4387197112 abstract "Variable stiffness actuators (VSA) are an emerging advanced driving method for robotic joint in physical human-robot interaction scenarios. This paper proposes a VSA based on adjusting the pre-tightening force of the driving ropes by rotating the linear springs to change the angle of its axis relative to the input frame. By adjusting the spring angle within a small relative rotation angle stroke, the angle between the spring axis and the transmission rope can be changed, thereby achieving rapid stiffness adjustment in a large range. The characteristics analysis shows that the proposed VSA has good stiffness adjustment independence. The mechanical design scheme of the VSA is introduced in detail. Simulations based on a proportional derivative (PD) controller demonstrated the effectiveness of the design." @default.
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• W4387197112 date "2023-01-01" @default.
• W4387197112 modified "2023-10-11" @default.
• W4387197112 title "Design and Analysis of a Novel Compliant Actuator with Variable Stiffness by Spring Pretension Adjustment" @default.
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• W4387197112 doi "https://doi.org/10.1109/access.2023.3321028" @default.
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