Towards an Analytical Theory of Variable Stiffness Actuator Design
While state-of-the-art compliantly actuated robots are able to achieve previously unprecedented agility, robustness, and adaptability, they operate with low efficiency. Energy-efficient compliant actuators are missing ingredients, and key enablers of next-generation robotic systems: prosthetic devices, orthotic devices, and wearable exoskeletons. However, despite recent advances in controlling these variable stiffness systems, their design remains experience-based and not well understood. This presentation will cover our recent effort in developing analytical and optimization-based frameworks for the design of intrinsically efficient variable stiffness systems.