The paper describes a variable stiffness actuated joint based on two counter-acting actuators that operate on two elastic elements purposely designed in order to exhibit a non-linear elastic characteristic.
Design and control of variable stiffness actuation systems
BERSELLI, GIOVANNI;
2010-01-01
Abstract
The paper describes a variable stiffness actuated joint based on two counter-acting actuators that operate on two elastic elements purposely designed in order to exhibit a non-linear elastic characteristic.
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