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VSA-HD: From the enumeration analysis to the prototypical implementation
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
This paper presents design, implementation and performance of a new Variable Stiffness Actuator (VSA) based on Harmonic Drives (VSA-HD), which is an improvement over past work reported in , . While previous prototypes have been developed to demonstrate the effectiveness of the variable stiffness actuation principle and the possibility to develop a compact and reliable actuator, the VSA-HD has been obtained by exploring the performance of the enumeration of all VSA made out a basicdoi:10.1109/iros.2010.5649774 dblp:conf/iros/CatalanoGBSB10 fatcat:5ewfzaxcifejpn257rned4s4wi