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Small-Sized Variable Stiffness Actuator Module Based on Adjustable Moment Arm

가변 모멘트 암 기반의 소형 가변 강성 액추에이터 모듈

  • 유홍선 (고려대학교 메카트로닉스학과) ;
  • 송재복 (고려대학교 기계공학과)
  • Received : 2012.12.28
  • Accepted : 2013.08.21
  • Published : 2013.10.01

Abstract

In recent years, variable stiffness actuation has attracted much attention because interaction between a robot and the environment is increasingly required for various robot tasks. Several variable stiffness actuators (VSAs) have been developed; however, they find limited applications owing to their size and weight. For realizing their widespread use, we developed a compact and lightweight mini-VSA. The mini-VSA consists of a control module based on an adjustable moment arm mechanism and a drive module with two motors. By controlling the relative motion of cams in the control module, the position and stiffness can be simultaneously controlled. Experimental results are presented to show its ability to change stiffness.

Acknowledgement

Supported by : 산업통상자원부

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