Variable impedance actuators: A review

B. Vanderborght; A. Albu-Schaeffer; A. Bicchi; E. Burdet; D. G. Caldwell; R. Carloni; M. Catalano; O. Eiberger; W. Friedl; G. Ganesh; M. Garabini; M. Grebenstein; G. Grioli; S. Haddadin; H. Hoppner; A. Jafari; M. Laffranchi; D. Lefeber; F. Petit; S. Stramigioli; N. Tsagarakis; M. Van Damme; R. Van Ham; L. C. Visser; S. Wolf

doi:10.1016/j.robot.2013.06.009

Variable impedance actuators: A review

B. Vanderborght, A. Albu-Schaeffer, A. Bicchi, E. Burdet, D. G. Caldwell, R. Carloni, M. Catalano, O. Eiberger, W. Friedl, G. Ganesh, M. Garabini, M. Grebenstein, G. Grioli, S. Haddadin, H. Hoppner, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. StramigioliN. Tsagarakis, M. Van Damme, R. Van Ham, L. C. Visser, S. Wolf

Research output: Contribution to journal › Article › peer-review

844 Scopus citations

Abstract

Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA's to be guided in the design and implementation process for their targeted application.

Original language	English
Pages (from-to)	1601-1614
Number of pages	14
Journal	Robotics and Autonomous Systems
Volume	61
Issue number	12
DOIs	https://doi.org/10.1016/j.robot.2013.06.009
State	Published - Dec 2013
Externally published	Yes

Keywords

Soft robotics
Variable impedance actuators

Access to Document

10.1016/j.robot.2013.06.009

Cite this

Vanderborght, B., Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M., Eiberger, O., Friedl, W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., ... Wolf, S. (2013). Variable impedance actuators: A review. Robotics and Autonomous Systems, 61(12), 1601-1614. https://doi.org/10.1016/j.robot.2013.06.009

@article{ea41684cc8b743a7b6509d1b8a4a14cb,

title = "Variable impedance actuators: A review",

abstract = "Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA's to be guided in the design and implementation process for their targeted application.",

keywords = "Soft robotics, Variable impedance actuators",

author = "B. Vanderborght and A. Albu-Schaeffer and A. Bicchi and E. Burdet and Caldwell, {D. G.} and R. Carloni and M. Catalano and O. Eiberger and W. Friedl and G. Ganesh and M. Garabini and M. Grebenstein and G. Grioli and S. Haddadin and H. Hoppner and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N. Tsagarakis and {Van Damme}, M. and {Van Ham}, R. and Visser, {L. C.} and S. Wolf",

note = "Funding Information: This work has been funded by the European Commissions 7th Framework Program as part of the project VIACTORS under grant no. 231554 . From the second name, the authors are in alphabetical order.",

year = "2013",

month = dec,

doi = "10.1016/j.robot.2013.06.009",

language = "English",

volume = "61",

pages = "1601--1614",

journal = "Robotics and Autonomous Systems",

issn = "0921-8890",

publisher = "Elsevier",

number = "12",

}

Vanderborght, B, Albu-Schaeffer, A, Bicchi, A, Burdet, E, Caldwell, DG, Carloni, R, Catalano, M, Eiberger, O, Friedl, W, Ganesh, G, Garabini, M, Grebenstein, M, Grioli, G, Haddadin, S, Hoppner, H, Jafari, A, Laffranchi, M, Lefeber, D, Petit, F, Stramigioli, S, Tsagarakis, N, Van Damme, M, Van Ham, R, Visser, LC & Wolf, S 2013, 'Variable impedance actuators: A review', Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1601-1614. https://doi.org/10.1016/j.robot.2013.06.009

TY - JOUR

T1 - Variable impedance actuators

T2 - A review

AU - Vanderborght, B.

AU - Albu-Schaeffer, A.

AU - Bicchi, A.

AU - Burdet, E.

AU - Caldwell, D. G.

AU - Carloni, R.

AU - Catalano, M.

AU - Eiberger, O.

AU - Friedl, W.

AU - Ganesh, G.

AU - Garabini, M.

AU - Grebenstein, M.

AU - Grioli, G.

AU - Haddadin, S.

AU - Hoppner, H.

AU - Jafari, A.

AU - Laffranchi, M.

AU - Lefeber, D.

AU - Petit, F.

AU - Stramigioli, S.

AU - Tsagarakis, N.

AU - Van Damme, M.

AU - Van Ham, R.

AU - Visser, L. C.

AU - Wolf, S.

N1 - Funding Information: This work has been funded by the European Commissions 7th Framework Program as part of the project VIACTORS under grant no. 231554 . From the second name, the authors are in alphabetical order.

PY - 2013/12

Y1 - 2013/12

N2 - Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA's to be guided in the design and implementation process for their targeted application.

AB - Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA's to be guided in the design and implementation process for their targeted application.

KW - Soft robotics

KW - Variable impedance actuators

UR - http://www.scopus.com/inward/record.url?scp=84887223229&partnerID=8YFLogxK

U2 - 10.1016/j.robot.2013.06.009

DO - 10.1016/j.robot.2013.06.009

M3 - Article

AN - SCOPUS:84887223229

SN - 0921-8890

VL - 61

SP - 1601

EP - 1614

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

IS - 12

ER -

Variable impedance actuators: A review

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this