#5708. Dynamic performance analysis of the variable stiffness actuator considering gap and friction characteristics based on two-inertia-system

August 2026publication date
Proposal available till 28-05-2025
4 total number of authors per manuscript0 $

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Journal’s subject area:
Mechanical Engineering;
Mechanics of Materials;
Computer Science Applications;
Bioengineering;
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Abstract:
Study of dynamic performance of variable stiffness actuators has become more important for high safety in human-robot interaction. In this paper, based on the human knee joint, a variable stiffness actuator for the knee joint is proposed and its feasibility is experimentally verified. Then by considering connection compliance between motor and internal load inside actuator, two-inertia-system model is developed, and the accuracy of this model is experimentally verified. Finally, effects of friction and gap characteristics on the dynamic performance of this actuator are analyzed.
Keywords:
Dynamic performance; Friction characteristic; Gap characteristic; Two-inertia-system; Variable stiffness actuator

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