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The International Journal of Robotics Research
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Comparison of Mechanical Design and Energy Consumption of Adaptable, Passive-compliant Actuators

Bram Vanderborght

Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussel, Belgium bram.vanderborght{at}vub.ac.be, Italian Institute of Technology, Robotics, Brain and Cognitive Sciences Department, Via Morego 30, 16163 Genova, Italy

Ronald Van Ham

Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussel, Belgium

Dirk Lefeber

Vrije Universiteit Brussel, Department of Mechanical Engineering, Pleinlaan 2, 1050 Brussel, Belgium

Thomas G. Sugar

Arizona State University, Department of Mechanical and Aerospace Engineering, Tempe, Arizona 85287-6106, USA, Thomas.Sugar{at}asu.edu

Kevin W. Hollander

Arizona State University, Department of Mechanical and Aerospace Engineering, Tempe, Arizona 85287-6106, USA

Different, adaptable, passive-compliant actuators have been developed recently such as the antagonistic setup of two Series Elastic Actuators, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator, the Actuator with Mechanically Adjustable Series Compliance, and the Variable Stiffness Actuator. The main purpose of these designs is to reduce the energy consumption of walking/running robots and prostheses. This paper presents a design formulation to link the different mechanical designs together, and a study on the power consumption of these actuators.

Key Words: compliant actuators • mechanical design • energy efficiency

The International Journal of Robotics Research, Vol. 28, No. 1, 90-103 (2009)
DOI: 10.1177/0278364908095333
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