Lab Papers (GRASP)
Document Type
Conference Paper
Subject Area
GRASP
Date of this Version
5-29-2023
Publication Source
2023 IEEE International Conference on Robotics and Automation (ICRA)
Bib Tex
@ARTICLE{tunable_stiffness_spring, author={Misra, Shivangi and Mitchell, Mason and Chen, Rongqian and Sung, Cynthia}, JOURNAL={IEEE International Conference on Robotics and Automation (ICRA)}, title={Design and Control of a Tunable-Stiffness Coiled-Actuator}, year={2023}}
Abstract
We propose a novel design for a lightweight and compact tunable stiffness actuator capable of stiffness changes up to 20x. The design is based on the concept of a coiled spring, where changes in the number of layers in the spring change the bulk stiffness in a near-linear fashion. We present an elastica nested rings model for the deformation of the proposed actuator and empirically verify that the designed stiffness-changing spring abides by this model. Using the resulting model, we design a physical prototype of the tunable-stiffness coiled-spring actuator and discuss the effect of design choices on the resulting achievable stiffness range and resolution. In the future, this actuator design could be useful in a wide variety of soft robotics applications, where fast, controllable, and local stiffness change is required over a large range of stiffnesses.
Copyright/Permission Statement
© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords
tunable-stiffness, actuator design, modeling, manipulator, soft robotics
Recommended Citation
Shivangi Misra, Mason Mitchell, Rongqian Chen, and Cynthia Sung, "Design and Control of a Tunable-Stiffness Coiled-Spring Actuator", 2023 IEEE International Conference on Robotics and Automation (ICRA) . May 2023.
Date Posted: 06 March 2023
This document has been peer reviewed.