Elastic energy storage in leaf springs for a lever-arm based Variable Stiffness Actuator

Eamon Barrett; Matteo Fumagalli; Raffaella Carloni

doi:10.1109/IROS.2016.7759105

Elastic energy storage in leaf springs for a lever-arm based Variable Stiffness Actuator

Eamon Barrett, Matteo Fumagalli, Raffaella Carloni

Robotics and Automation

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

18 Citations (Scopus)

Abstract

The increasing use of Variable Stiffness Actuators (VSAs) in robotic joints is helping robots to meet the demands of human-robot interaction, requiring high safety and adaptability. The key feature of a VSA is the ability to exploit internal elastic elements to obtain a variable output stiffness. These allow the joints to store mechanical energy supplied through interaction with the environment and make the system more robust, efficient, and safe. This paper discusses the design of leaf springs for a sub-class of VSAs that use variable lever arm ratios as means to change their output stiffness. Given the trade-off between compactness and the maximum energy storage capacity, the internal springs' dimensions and material choice are assessed through a theoretical analysis and practical experiments.

Original language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages	6
Volume	2016-November
Publisher	IEEE
Publication date	28 Nov 2016
Pages	537-542
Article number	7759105
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759105
Publication status	Published - 28 Nov 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	09/10/2016 → 14/10/2016

Keywords

manipulators
Springs
Energy storage
Actuators
Robots
Force
Stress
Design methodology

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10.1109/IROS.2016.7759105

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title = "Elastic energy storage in leaf springs for a lever-arm based Variable Stiffness Actuator",

abstract = "The increasing use of Variable Stiffness Actuators (VSAs) in robotic joints is helping robots to meet the demands of human-robot interaction, requiring high safety and adaptability. The key feature of a VSA is the ability to exploit internal elastic elements to obtain a variable output stiffness. These allow the joints to store mechanical energy supplied through interaction with the environment and make the system more robust, efficient, and safe. This paper discusses the design of leaf springs for a sub-class of VSAs that use variable lever arm ratios as means to change their output stiffness. Given the trade-off between compactness and the maximum energy storage capacity, the internal springs' dimensions and material choice are assessed through a theoretical analysis and practical experiments.",

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author = "Eamon Barrett and Matteo Fumagalli and Raffaella Carloni",

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language = "English",

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booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

note = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",

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Barrett, E, Fumagalli, M & Carloni, R 2016, Elastic energy storage in leaf springs for a lever-arm based Variable Stiffness Actuator. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759105, IEEE, pp. 537-542, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 09/10/2016. https://doi.org/10.1109/IROS.2016.7759105

Elastic energy storage in leaf springs for a lever-arm based Variable Stiffness Actuator. / Barrett, Eamon; Fumagalli, Matteo; Carloni, Raffaella.
IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November IEEE, 2016. p. 537-542 7759105.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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KW - Energy storage

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KW - Robots

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Elastic energy storage in leaf springs for a lever-arm based Variable Stiffness Actuator

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