Parallel Variable Stiffness Actuators
Chase W. Mathews,David J. Braun,Chase W. Mathews,David J. Braun
In this paper, we introduce a new type of compliant actuator named the Parallel Variable Stiffness Actuator (PVSA) which consists of a variable stiffness spring placed in parallel with a direct-drive motor. Parallel variable stiffness actuators provide (i) high-fidelity force control and (ii) controllable energy storage, as they inherit the benefits of direct-drive motors and variable stiffness sp...
