Abstract
This paper presents design of a new antagonistic variable stiffness hinge using noncircular gears. First, we show a method to convert a torsion spring to an arbitrary nonlinear torsion spring by nonuniform circular motion of noncircular gears. This nonlinear torsion spring is called ρ2-Spring. Next, a pair of ρ2-Springs are connected antagonistically to comprise a variable stiffness joint. Moreover, the design method of ρ2-Spring and β2-Hinge which have arbitrary characteristic is developed. We explain the characteristics of this joint theoretically and evaluate its capability of wide range stiffness. We also present experimental results of the prototype.
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