Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction
Top Cited Papers
- 1 January 2005
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans, implementing criteria established in our previous work [1] on optimal mechanical-control co-design for intrinsically safe, yet performant machines. In our Variable Impedance Actuation (VIA) approach, actuators control in real-time both the reference position and the mechanical impedance of the moving parts in the machine in such a way to optimize performance while intrinsically guaranteeing safety. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motorKeywords
This publication has 11 references indexed in Scilit:
- Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint RobotsPublished by Springer Science and Business Media LLC ,2007
- Fast and "Soft-Arm" TacticsIEEE Robotics & Automation Magazine, 2004
- A new actuation approach for human friendly robot designPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Development of the cybernetic shoulder-a three DOF mechanism that imitates biological shoulder-motionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Development and evaluation of seven DOF MIA ARMPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Series elastic actuatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- On a new generation of torque controlled light-weight robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Planning walking patterns for a biped robotIEEE Transactions on Robotics and Automation, 2001
- Does the cerebellum learn strategies for the optimal time-varying control of joint stiffness?Behavioral and Brain Sciences, 1996
- Modeling and Control of Elastic Joint RobotsJournal of Dynamic Systems, Measurement, and Control, 1987