Autori: Matteo Malosio, Alessio Prini, Joao Carlos Dalberto, Roberto Bozzi
This Variable Stiffness Actuator is based on a new invention created over a deeply analysis on the state of art. It is equipped with a series of features considered important and which differentiate it from other developed devices. The core mechanism of the device is able to decouple the control of the torsional stiffness from the control of the equilibrium configuration of a rotating shaft, acting independently on two rotary joints configured in parallel. This allows to realize a joint that can be installed in series between a motor and a load, keeping both motors in parallel without requiring the rotation of electrical components. Furthermore, the particular configuration of the elastic transmission allows to modify the stiffness with a limited energy consumption, contributing to reduce the total power installed on the device and the overall dimensions. Due to its important innovative aspects, it can be applied in different collaborative robotics applications and, in general, can find an effective use in automatic machines able to physically interact with the person or the environment, both within the medical and industrial sectors.