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Design and implementation of a variable stiffness tensegrity-based compliant actuator.

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Title: Design and implementation of a variable stiffness tensegrity-based compliant actuator.
Authors: Liu, Yanwen1 (AUTHOR) honorlyw@163.com, Jin, Guangyuan2 (AUTHOR), Zhou, Liang3 (AUTHOR), Jiang, Hongzhou1,3 (AUTHOR)
Source: Robotica. Oct2025, Vol. 43 Issue 10, p3578-3593. 16p.
Subjects: Compliant mechanisms, Stiffness (Engineering), Friction, Soft robotics, Tensile architecture
Abstract: The variable stiffness actuator (VSA) excels at tasks that are challenging for traditional rigid mechanisms to perform. A novel variable stiffness tensegrity-based compliant actuator is proposed, following an analysis of the cons and pros of existing VSAs. The proposed actuator leverages a tensegrity structure to eliminate direct contact between rigid elements, thereby reducing the internal mechanical friction. This leads to low damping and compliant behavior. Additionally, it enables a wide range of stiffness adjustments and decouples rotational stiffness from the rotation angle by utilizing different variants of the mechanically adjustable compliance and controllable equilibrium position actuator (MACCEPA). The stiffness analysis of the single-joint actuator is presented and experimentally validated. This design is then extended to multi-joint mechanism applications, including serial mechanism configuration, wire-driven mechanism configuration, and direct-drive mechanism configuration. An evaluation of the structural characteristics of these three configurations is provided, offering different options for implementing VSAs. The conducted works could provide fresh insights into the field of VSA. [ABSTRACT FROM AUTHOR]
Copyright of Robotica is the property of Cambridge University Press and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
An: 189395111
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
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  Data: Design and implementation of a variable stiffness tensegrity-based compliant actuator.
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  Data: <searchLink fieldCode="AR" term="%22Liu%2C+Yanwen%22">Liu, Yanwen</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> honorlyw@163.com</i><br /><searchLink fieldCode="AR" term="%22Jin%2C+Guangyuan%22">Jin, Guangyuan</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Zhou%2C+Liang%22">Zhou, Liang</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Jiang%2C+Hongzhou%22">Jiang, Hongzhou</searchLink><relatesTo>1,3</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Robotica%22">Robotica</searchLink>. Oct2025, Vol. 43 Issue 10, p3578-3593. 16p.
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  Data: <searchLink fieldCode="DE" term="%22Compliant+mechanisms%22">Compliant mechanisms</searchLink><br /><searchLink fieldCode="DE" term="%22Stiffness+%28Engineering%29%22">Stiffness (Engineering)</searchLink><br /><searchLink fieldCode="DE" term="%22Friction%22">Friction</searchLink><br /><searchLink fieldCode="DE" term="%22Soft+robotics%22">Soft robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Tensile+architecture%22">Tensile architecture</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: The variable stiffness actuator (VSA) excels at tasks that are challenging for traditional rigid mechanisms to perform. A novel variable stiffness tensegrity-based compliant actuator is proposed, following an analysis of the cons and pros of existing VSAs. The proposed actuator leverages a tensegrity structure to eliminate direct contact between rigid elements, thereby reducing the internal mechanical friction. This leads to low damping and compliant behavior. Additionally, it enables a wide range of stiffness adjustments and decouples rotational stiffness from the rotation angle by utilizing different variants of the mechanically adjustable compliance and controllable equilibrium position actuator (MACCEPA). The stiffness analysis of the single-joint actuator is presented and experimentally validated. This design is then extended to multi-joint mechanism applications, including serial mechanism configuration, wire-driven mechanism configuration, and direct-drive mechanism configuration. An evaluation of the structural characteristics of these three configurations is provided, offering different options for implementing VSAs. The conducted works could provide fresh insights into the field of VSA. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Robotica is the property of Cambridge University Press and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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      – Type: doi
        Value: 10.1017/S0263574725102579
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      – Code: eng
        Text: English
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        PageCount: 16
        StartPage: 3578
    Subjects:
      – SubjectFull: Compliant mechanisms
        Type: general
      – SubjectFull: Stiffness (Engineering)
        Type: general
      – SubjectFull: Friction
        Type: general
      – SubjectFull: Soft robotics
        Type: general
      – SubjectFull: Tensile architecture
        Type: general
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      – TitleFull: Design and implementation of a variable stiffness tensegrity-based compliant actuator.
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            NameFull: Liu, Yanwen
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            NameFull: Jin, Guangyuan
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            NameFull: Zhou, Liang
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            NameFull: Jiang, Hongzhou
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          Dates:
            – D: 01
              M: 10
              Text: Oct2025
              Type: published
              Y: 2025
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              Value: 43
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              Value: 10
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            – TitleFull: Robotica
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