Flexure Variable Stiffness Actuators

Series elastic actuators (SEAs) and variable (VSAs) provide shock resistance, energy storage, stable force control. However, they usually require extra springs, mechanical parts, transmissions, increasing size, weight, number of moving reducing the efficiency. In particular, this complexity is one significant challenges in design wearable scalable feedback devices. article, flexure stiffness (F-VSAs), which combine kinematic transmission, elasticity, modulation via a network folding patterns using hinges, are presented. Thus, F-VSAs allow creation robots benefiting from advantages SEAs VSAs without hindering form factor or To illustrate strategy F-VSAs, 4-design-of-freedom (DoF) robot that provides output An analytical model estimates inherent end-effector for any given configuration pattern proposed. Finally, control implemented good agreement with predictions observed. novel allows compact wearable, rehabilitation, haptic applications.