期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2007
卷号：4
期号：1
DOI：10.5772/5705
语种：English
出版社：SAGE Publications
摘要：Many successful designs of compliant actuators have been recently proposed. However, the challenge of providing passive and active motion in one actuator has remained. In this paper, a novel mechanism for changing the stiffness of the series elastic actuator over a wide range is presented. An accurate force source is provided by introducing the force control using velocity control of the DC motor. Performance and behaviour of the system and controller is investigated through simulation.
关键词：Robotics; Compliant Actuator; Adjustable stiffness coupling; Design; Control
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