01494nas a2200145   4500008004100000245010700041210006900148300001200217520093800229653001301167100001601180700001501196700001501211856012201226       2005                        eng d00aDesign and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction0 aDesign and Control of a Variable Stiffness Actuator for Safe and  a528-5333 a<p style="text-align: justify;">This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans. According to criteria established in our previous work on mechanical-control co-design for intrinsically safe, yet performant machines, we pursue the Variable Impedance Actuation (VIA) approach, purporting actuators that can control in real-time both the reference position and the mechanical impedance of the moving parts in the machine. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.</p>
10aRobotics1 aTonietti, G1 aSchiavi, R1 aBicchi, A.  uhttp://615830.rige.asia/publications/design-and-control-variable-stiffness-actuator-safe-and-fast-physical-humanrobot