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Double actuation architectures for rendering variable impedance in compliant robots: A review

2012; Elsevier BV; Volume: 22; Issue: 8 Linguagem: Inglês

10.1016/j.mechatronics.2012.09.011

1873-4006

Nevio Luigi Tagliamonte, Fabrizio Sergi, Dino Accoto, Giorgio Carpino, Eugenio Guglielmelli,

Soft Robotics and Applications

Novel compliant actuation systems have been developed in recent years for a variety of possible advantages, such as establishing a safe human–robot interaction, increasing energy efficiency, reducing the effects of impacts and even for the development of neuro-inspired robotic platforms to be used in human motor control studies. In this rapidly growing and transversal research field, systems involving more than one active element (typically motors) for each actuated degree of freedom are being investigated to allow separate position and impedance regulations. Considering the wide range of applications and the large number of different arrangements deriving from the combination of two active elements and passive elastic components, several actuation architectures have been devised. This paper reviews state-of-the-art rotary variable impedance units incorporating two separate motors. Existing devices are grouped in three main categories. A critical and comparative analysis of the most relevant features is carried out, also based on most representative prototypes. Recently proposed methodologies and evaluation criteria for design optimization are illustrated and perspectives on potential applications of double actuation systems are presented.