Variable impedance actuation meso-micro physical models and rotation link using biphasic media

Abstract

Variable impedance actuators (VIAs) are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user, and their ability to store and release energy in passive elastic elements. This paper describes the state of the art in the design of actuators using fluid and gas. The physical model of meso- micro types are shown as well as their property both in dynamic function and stiffness band. The control schematic is proposed and the simulation example based on stiffness-stroke task is presented. Further, the realization of variable impedance based on link rotation is demonstrated and analyzed which is a valuable application of robotics arm. © 2013 The Authors. Published by Elsevier Ltd.