Abstract
With the growing popularity of Human–Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. Therefore, the SMARCOS, a novel off-the-shelf Smart Variable Stiffness Actuator for human-centered robotic applications is proposed in this paper. This modular actuator combines compliant elements and sensors as well as low-level controller and high-bandwidth communication. The characterisation of the actuator is presented in this manuscript, followed by two use-cases wherein the benefits of such technology can be truly exploited. The actuator provides a lightweight design that can serve as the building blocks to facilitate the development of robotic applications.
Highlights
Human–Robot Interactions (HRI) is a fast-growing field in the world of robotics [1].The potential of assistive devices covers a wide range of applications, such as exoskeletons, rehabilitation devices or prostheses
A new type of actuator needs to be developed to allow humans and robots to work together: the Variable Stiffness Actuator (VSA) [3]. Examples of such actuators developed over the last decade are ARES [4], ARES XL [5], AwAS [6], AwAS-II [7], BAFSA [8], BAVS [9], CompAct-VSA [10], FAS [11], FSJ [12], MACCEPA 2.0 [13], MIRAD [14], SVSA [15], VSA-Cube [16] and VSA-HD [17]
The goal of this paper is to investigate if a novel variable stiffness actuator, for which the scope is stretched to a variety of different use-cases, can be a suitable candidate as an off-the-shelf solution to ease the development of new HRI devices
Summary
Human–Robot Interactions (HRI) is a fast-growing field in the world of robotics [1].The potential of assistive devices covers a wide range of applications, such as exoskeletons, rehabilitation devices or prostheses. A new type of actuator needs to be developed to allow humans and robots to work together: the Variable Stiffness Actuator (VSA) [3]. Examples of such actuators developed over the last decade are ARES [4], ARES XL [5], AwAS [6], AwAS-II [7], BAFSA [8], BAVS [9], CompAct-VSA [10], FAS [11], FSJ [12], MACCEPA 2.0 [13], MIRAD [14], SVSA [15], VSA-Cube [16] and VSA-HD [17]
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
