Special Issue "Variable Stiffness and Variable Impedance Actuators"
A special issue of Actuators (ISSN 2076-0825).
Deadline for manuscript submissions: closed (30 April 2017) | Viewed by 55979
Interests: variable stiffness actuators; variable impedance; compliant joint/mechanism; novel actuators for natural machine motion; physical human-robot interaction; compliance and impedance control; grasping, grippers and other end-effectors; haptics and haptic interfaces; multifingered hands; prosthetics and exoskeletons
Interests: variable stiffness actuators; variable impedance actuators; compliant joint/mechanism; mechanism design; robotic reflexes; energy efficiency of compliant actuators; friction modeling; friction identification; humanoid robots; physical human-robot interaction
The introduction of passive compliant elements (as springs and dampers) in robot actuators makes it possible to design robots that are dynamic, robust and safe. Nevertheless, if we compare these systems to their human counterpart, they still lose on the ground of the variety and diversity of tasks that the muscle–skeletal system can perform, such as catching, throwing, walking, running, jumping, etc., but also precise and gentle tasks, such as caressing, manipulating, playing an instrument, using tools, and performing in the arts.
Variable stiffness and variable impedance actuation proposes to overcome this limitation by designing actuators with superior dynamic behaviors, which can change their mechanical characteristics (by passive adaptation or by induced mechanical state change), while simultaneously operating their load.
Since the last decade of the past century, several Variable Stiffness and Variable Impedance Actuators and Mechanisms have been proposed, spanning a large variety of designs, without a particular implementation prevailing. Moreover, the opportunity of being able to change the mechanical characteristics of a robot system extends the problems of modeling, planning, and controlling a robot to a new degree. Despite the lively literature on these topics, there are still many open research questions.
Therefore, this Special Issue seeks top quality publications spanning the following topics:
- Design of VSA and Variable Stiffness Mechanisms
- Spring configuration in VIAs: Serial vs. parallel vs. differential vs. others
- Modeling, control and control strategies of VSA/VIA robots and actuators
- Applications of VSA/VIA robots and actuators
- Energy efficiency, performance characterization and trade-offs of VSA/VIA robots and actuators
- Safety, robustness and physical interaction of a robot with the environment and/or humans, where this is enhanced by VSA/VIA
Please note that the focus of this Special Issue is on systems that are able to change their passive mechanical impedance characteristics. Systems that implement the change in stiffness (or impedance) only by means of active control of the actuator torque or position are beyond the scope of this Special Issue.
Dr. Giorgio Grioli
Dipl.-Ing. Sebastian Wolf
Manuscript Submission Information
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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.
Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1800 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.
- Variable Stiffness Actuation
- Variable Impedance Actuation
- Compliant joint and mechanism design
- Modeling of variable stiffness systems
- Control of VSA/VIA
- Optimal control
- Impedance/compliance control
- Energy efficiency
- Identification and characterization
- Interaction safety
- Robust interaction
- Physical human-robot-interaction (pHRI)