title: A novel energy-efficient rotational variable stiffness actuator.
abstract: This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the stiffness of the actuator can be varied by keeping constant the internal stored energy of the actuator. The principle of the actuator is an extension of the principle of translational energy-efficient actuator vsaUT. A prototype based on the principle has been designed, in which ball-bearings and linear slide guides have been used in order to reduce losses due to friction.
authors.affiliation: Dept Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands. fs.rao@utwente.nl
authors.forename: Shodhan
authors.initials: S
authors.lastname: Rao
authors.forename: Raffaella
authors.initials: R
authors.lastname: Carloni
authors.forename: Stefano
authors.initials: S
authors.lastname: Stramigioli
mesh_terms: D001696:Biomechanical Phenomena; D011211:Electric Power Supplies; D004867:Equipment Design; D012371:Robotics / Q000295:instrumentation*; D012399:Rotation; D019415:Torque