| Title | Variable Stiffness Actuators for Fast and Safe Motion Control |
| Publication Type | Book Chapter |
| Year of Publication | 2003 |
| Authors | Bicchi, A, Tonietti, G, Bavaro, M, Piccigallo, M |
| Editor | Siciliano, B, Khatib, O, Groen, F |
| Book Title | Proceedings of the International Symposium on Robotics Research |
| Series Title | Springer Tracts in Advanced Robotics (STAR) |
| Publisher | Springer Verlag |
| Keywords | Robotics |
| Abstract | In this paper we propose Variable Stiffness actuation as a viable mechanical/control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.
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