The mVSA-UT: A miniaturized differential mechanism for a continuous rotational variable stiffness actuator

Matteo Fumagalli*, Eamon Barrett, Stefano Stramigioli, Raffaella Carloni

*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

46 Citations (Scopus)

Abstract

In this paper, we present the mechanical design of the mVSA-UT, a miniaturized variable stiffness actuator. The apparent output stiffness of this innovative actuation system can be changed independently of the output position by varying the transmission ratio between the internal mechanical springs and the actuator output. The output stiffness can be tuned from zero to almost infinite by moving a pivot point along a lever arm. The mVSA-UT is actuated by means of two motors, connected in a differential configuration, which both work together to change the output stiffness and the output position. The output shaft can perform unbounded and continuous rotation. The design ensures high output torque capability, light weight and compact size to realize a multiple purpose actuation unit for a great variety of robotic and biomechatronic applications.

Original languageEnglish
Title of host publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Number of pages6
Publication date2012
Pages1943-1948
Article number6290686
ISBN (Print)9781457711992
DOIs
Publication statusPublished - 2012
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: 24 Jun 201227 Jun 2012

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/TerritoryItaly
CityRome
Period24/06/201227/06/2012

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