Design and Modeling of A Compact Serial Variable Stiffness Actuator (SVSA-III) with Linear Stiffness Profile
Shuowen Yi,Siyu Liu,Junbei Liao,Zhao Guo,Shuowen Yi,Siyu Liu,Junbei Liao,Zhao Guo
Variable stiffness actuator (VSA) can imitate natural muscles in their compliance capbility, which can provide flexible adaptability for robots, improving the safety of robots interacting with the environment or human. This paper presents a new compact serial variable stiffness actuator ((SVSA-III)) with linear stiffness profile based on symmetrical variable lever arm mechanism. The stiffness moto...
