2017
DOI: 10.1007/978-3-319-65292-4_21
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Design of a Series Variable Stiffness Joint Based on Antagonistic Principle

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(1 citation statement)
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“…Those SEAs also suffer from large size, non-modularity, and mechanical design complexity. Recently, variable stiffness actuators (VSAs) [ 12 , 13 ] have been introduced to maximize benefits of SEA with respect to safety during interaction, as well as to improve the energy efficiency of the robotic system. VSAs typically employ two motors, which respectively control the compliance and the equilibrium position of the actuated joint.…”
Section: Introductionmentioning
confidence: 99%
“…Those SEAs also suffer from large size, non-modularity, and mechanical design complexity. Recently, variable stiffness actuators (VSAs) [ 12 , 13 ] have been introduced to maximize benefits of SEA with respect to safety during interaction, as well as to improve the energy efficiency of the robotic system. VSAs typically employ two motors, which respectively control the compliance and the equilibrium position of the actuated joint.…”
Section: Introductionmentioning
confidence: 99%