Variable Stiffness Actuators: Review on Design and Components
IEEE/ASME Transactions on Mechatronics(2016)
摘要
Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attr...
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关键词
Robots,Actuators,Springs,Acceleration,Torque,Trajectory,Impedance
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