Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator

Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator

This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable stiffness actuators. Using static analysis and th...

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Bibliographic Details
Main Authors: Ming Zhang, Pengfei Ma, Feng Sun, Xingwei Sun, Fangchao Xu, Junjie Jin, Lijin Fang
Format: Article
Language:English
Published: MDPI AG 2021-05-01
Series:Actuators
Subjects:
variable stiffness
decoupling control
compliance
torque compensation
Online Access:https://www.mdpi.com/2076-0825/10/6/116

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