Direct-drive robots: theory and practice
Direct-drive robots: theory and practice
The design and control of an experimental whole-arm manipulator
The fifth international symposium on Robotics research
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
How the Body Shapes the Way We Think: A New View of Intelligence (Bradford Books)
How the Body Shapes the Way We Think: A New View of Intelligence (Bradford Books)
Comparison of Mechanical Design and Energy Consumption of Adaptable, Passive-compliant Actuators
International Journal of Robotics Research
Proxy-based Sliding Mode Control of a Planar Pneumatic Manipulator
International Journal of Robotics Research
A compact soft actuator unit for small scale human friendly robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Design of human symbiotic robot TWENDY-ONE
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Design and Control of a Bio-inspired Human-friendly Robot
International Journal of Robotics Research
Dual-differential rheological actuator for high-performance physical robotic interaction
IEEE Transactions on Robotics
Haptic interface transparency achieved through viscous coupling
International Journal of Robotics Research
Design and control of a novel visco-elastic braking mechanism using HMA
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
IEEE Transactions on Robotics
A Robot Joint With Variable Stiffness Using Leaf Springs
IEEE Transactions on Robotics
Energy-Efficient Variable Stiffness Actuators
IEEE Transactions on Robotics
Variable Stiffness Actuators: A Port-Based Power-Flow Analysis
IEEE Transactions on Robotics
Hi-index | 0.00 |
Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA's to be guided in the design and implementation process for their targeted application.