Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human-robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted. © 2011 American Society of Mechanical Engineers.

Design of a Variable Stiffness Actuator Based on Flexures

PALLI, GIANLUCA;BERSELLI, GIOVANNI;MELCHIORRI, CLAUDIO;VASSURA, GABRIELE
2011

Abstract

Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human-robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted. © 2011 American Society of Mechanical Engineers.
Palli G; Berselli G; Melchiorri C; Vassura G
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/103951
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