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Mechanical Modelling and Design of Variable Stiffness Actuators


Descrizione One of the main differences between classical robots and humans or animals is the presence of adaptive compliance in the actuated joints. This is largely due to the dynamic mechanical properties of the biological actuators: the muscle-tendon-units. The introduction of compliant elements in the robotic hardware started long ago with the use of pneumatic actuators and became well known with Raibert’s work using air springs for hopping robots, and later Pratt introduced the Series Elastic Actuators (SEA). For all the novel requirements of safety and energy-efficiency and applications the term “soft robotics” has been introduced. An important step was to make the stiffness of the compliant element adjustable. Variable impedance actuation (VIA) permits the embodiment of natural characteristics, found in biological systems into a new generation of mechatronic systems.
The research topic of this thesis would like to explore this research field.

Scadenza validita proposta 01/10/2020      PROPONI LA TUA CANDIDATURA

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