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EnglishVariable 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.
| Titolo: | Design of a Variable Stiffness Actuator Based on Flexures |
| Autore/i: | PALLI, GIANLUCA; BERSELLI, GIOVANNI; MELCHIORRI, CLAUDIO; VASSURA, GABRIELE |
| Autore/i Unibo: | |
| Anno: | 2011 |
| Rivista: | |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1115/1.4004228 |
| 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. |
| Data prodotto definitivo in UGOV: | 2013-06-19 13:50:26 |
| Appare nelle tipologie: | 1.01 Articolo in rivista |
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http://hdl.handle.net/11585/103951
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