@inproceedings{74913c2f29884fe488e1224e1c715571,
title = "Mechatronics Design of a Novel Variable Stiffness Joint Designed with Antagonistic Actuation",
abstract = "In this paper, a novel variable stiffness joint (VSJ) with antagonistic actuation is presented. The actuation is designed with two nonlinear compliance mechanisms (NCMs). This makes it possible for us to control the position and stiffness of the joint independently. In the paper, the designs of the VSJ and the NCM are introduced. Position and stiffness control of the joint is realized using a PID controller based on the dynamics of the compliant actuation system. Experiments are performed to validate the feasibility of VSJ in controlling position and stiffness.",
author = "Zhongyi Li and Jingmeng Liu and Majun Song and Hao Zheng and Shang Yang and Weihai Chen",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023 ; Conference date: 18-08-2023 Through 22-08-2023",
year = "2023",
doi = "10.1109/ICIEA58696.2023.10241375",
language = "英语",
series = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1483--1488",
editor = "Wenjian Cai and Guilin Yang and Jun Qiu and Tingting Gao and Lijun Jiang and Tianjiang Zheng and Xinli Wang",
booktitle = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
address = "美国",
}