Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an un- known 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
Variable Impedance Actuators: a Review
BICCHI, ANTONIO;GRIOLI, GIORGIO
2013-01-01
Abstract
Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an un- known 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 applicationI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
