A new variable stiffness robot joint

This study aims to propose a new variable stiffness robot joint (VSR-joint) for operating safely. More and more variable stiffness actuators 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.

The design of VSR-joint is compact and integrated highly and the operating is simply. The mechanics, the principle of operation and the model of the VSR-joint are proposed. The principle of operation of VSR-joint is based on a lever arm mechanism with a continuously regulated pivot point. The VSR-joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior. This allows an easy adaption to a big variety of tasks.

Preliminary results are presented to demonstrate the fast stiffness regulation response and the wide range of stiffness achieved by the proposed VSR-joint design.

In this paper, a new variable stiffness joint is proposed through changing the cantilever arm to change the performance of the elastic element, which is compact, small size and simple adjustment.