What question did this study set out to answer?

To design and validate a gain scheduling control framework that simultaneously regulates link position and perceived stiffness in variable stiffness actuators using a lever mechanism.

June 1, 2013IEEE Transactions on Robotics

Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms

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To design and validate a gain scheduling control framework that simultaneously regulates link position and perceived stiffness in variable stiffness actuators using a lever mechanism.
Designed a gain scheduling control strategy using a family of linear quadratic regulators to ensure robustness against actuation parameter changes.
Coordinated output link positioning and stiffness regulation through simultaneous adjustment of transmission stiffness and scheduling gains.
Evaluated stability and controller performance via theoretical local stability proofs, numerical simulations, and hardware experiments.
Successfully regulated output link position and perceived stiffness across varying operating states.
Maintained local stability and compensated for substantial plant parameter variations during experimental testing.

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Implication

Experimental validation demonstrates simultaneous position and stiffness regulation in variable stiffness actuators, suggesting robust performance against parameter variations.

Cite This Study

Sardellitti et al. (2013) studied this question.

synapsesocial.com/papers/6a75a6c0756843cacbb21eeb https://doi.org/10.1109/tro.2013.2244787

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Implication

Experimental validation demonstrates simultaneous position and stiffness regulation in variable stiffness actuators, suggesting robust performance against parameter variations.

Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms

Key Points

Discussion

Implication

Cite This Study

Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms

Key Points

Discussion

Implication

Cite This Study

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