Variable stiffness series elastic actuator

摘要

The variable stiffness actuator includes a flexure plate including a first cantilever extending inwardly from an outer edge of the flexure plate. The housing and the flexure plate are rotatable about a common joint axis. The first contact is pivotally fixed to the housing at the position of the revolute joint. The first contact rotates around the revolute joint at the position of the first rotation axis. The first rotation axis is offset from the joint axis in the housing. The first contact engages the first cantilever at variable angles about the axis of rotation to adjust the stiffness of the mechanical connection between the flexure plate and the housing.