Design and Control of a Tunable-Stiffness Coiled-Spring Actuator
Shivangi Misra,Mason Mitchell,Rongqian Chen,Cynthia Sung,Shivangi Misra,Mason Mitchell,Rongqian Chen,Cynthia Sung
We propose a novel design for a lightweight and compact tunable stiffness actuator capable of stiffness changes up to 20x. The design is based on the concept of a coiled spring, where changes in the number of layers in the spring change the bulk stiffness in a near linear fashion. We present an elastica nested rings model for the deformation of the proposed actuator and empirically verify that the...
