Variable Stiffness Actuators: Review on Design and Components

Wolf, Sebastian; Grioli, Giorgio; Eiberger, Oliver; Friedl, Werner; Grebenstein, Markus; Höppner, Hannes; Burdet, Etienne; Caldwell, Darwin G.; Carloni, Raffaella; Catalano, Manuel G.; Lefeber, Dirk; Stramigioli, Stefano; Tsagarakis, Nikos G.; Damme, Michaël Van; Ham, Ronald Van; Vanderborght, Bram; Visser, Ludo C.; Bicchi, Antonio; Albu‐Schäffer, Alin

doi:10.1109/tmech.2015.2501019

Cited by 342 publications

(201 citation statements)

References 61 publications

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“…For other stiffness tunable materials such as thermoplastics, a review on variable stiffness technologies for soft robotics is available . Tendon‐driven is also able to achieve variable stiffness through antagonistic configurations . However, since little work has been done with soft materials, we focus on the others technologies listed above …”

Section: Gripping By Controlled Stiffnessmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

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Section: Gripping By Controlled Stiffnessmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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“…In that case, Variable Stiffness Actuator (VSA) is the remedy [92], [93]. The technology could also be in the form of Variable Impedance Actuator (VIA) which varies its stiffness as a response to change in the impedance [94]. VSA and VIA actuators have a better shock absorbing properties than SEA as they can store and release energy in passive elastic elements [95].…”

Section: Hydraulic Actuatorsmentioning

confidence: 99%

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

Ogenyi

Liu

Yang

et al. 2021

IEEE Trans. Cybern.

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This paper presents a state-of-the-art survey on robotic systems, sensors, actuators and collaborative strategies for Physical Human-Robot Collaboration (pHRC). The paper starts with an overview of some robotic systems with cuttingedge technologies (sensors and actuators) suitable for pHRC operations and the intelligent assist devices employed in pHRC. Sensors being among the essential components to establish communication between a human and a robotic system are surveyed. The sensor supplies the signal needed to drive the robotic actuators. The survey reveals that the design of new generation collaborative robots and other intelligent robotic systems has paved the way for sophisticated learning techniques and control algorithms to be deployed in pHRC. Furthermore, it revealed relevant components needed to be considered for effective pHRC to be accomplished. Finally, a discussion of the major advances made, some research directions, and future challenges are presented.

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“…There have been several recent approaches that used passivity to achieve complex (i.e., varied and adaptive) dynamic behaviors, where the complex behavior emerged from many hard-to-control independent mechanical components. One approach was to actively control the mechanical dynamics of the robots by implementing variable stiffness mechanisms that allowed adaptation of the passive behaviors to varying environments (25)(26)(27). Although this approach allowed different behaviors to be achieved, the inclusion of actuators limited the scalability and required more complex control (28)(29)(30)(31).…”

Section: Introductionmentioning

confidence: 99%

An anthropomorphic soft skeleton hand exploiting conditional models for piano playing

2018

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The development of robotic manipulators and hands that show dexterity, adaptability, and subtle behavior comparable to human hands is an unsolved research challenge. In this article, we considered the passive dynamics of mechanically complex systems, such as a skeleton hand, as an approach to improving adaptability, dexterity, and richness of behavioral diversity of such robotic manipulators. With the use of state-of-the-art multimaterial three-dimensional printing technologies, it is possible to design and construct complex passive structures, namely, a complex anthropomorphic skeleton hand that shows anisotropic mechanical stiffness. We introduce a concept, termed the "conditional model," that exploits the anisotropic stiffness of complex soft-rigid hybrid systems. In this approach, the physical configuration, environment conditions, and conditional actuation (applied actuation) resulted in an observable conditional model, allowing joint actuation through passivity-based dynamic interactions. The conditional model approach allowed the physical configuration and actuation to be altered, enabling a single skeleton hand to perform three different phrases of piano music with varying styles and forms and facilitating improved dynamic behaviors and interactions with the piano over those achievable with a rigid end effector.

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Variable Stiffness Actuators: Review on Design and Components

Cited by 342 publications

References 61 publications

Soft Robotic Grippers

Soft Robotic Grippers

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

An anthropomorphic soft skeleton hand exploiting conditional models for piano playing

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