Design, modeling, and control of a variable stiffness elbow joint

Abstract New technological advances are changing the way robotics designed for safe and dependable physical human–robot interaction human-like prosthesis. Outstanding examples adoption of soft covers, compliant transmission elements, motion control laws that allow behavior in event collisions while preserving accuracy performance during free space. In this scenario, there is growing interest variable stiffness actuators (VSAs). Herein, we present a new design an anthropomorphic elbow VSA based on architecture developed previously. A robust dynamic feedback linearization algorithm used to achieve simultaneous output link position stiffness. This actuation system makes use two characterized by nonlinear relation between deflection applied torque. Static algorithms have been proposed literature considering purely elastic transmission; however, viscoelasticity often observed practice. phenomenon may harm static algorithms, particularly case trajectory tracking. To overcome limitation, propose explicitly considers validate it through simulations experimental studies. The results compared with showcase improvement tracking, even parameter uncertainty.