Variable Stiffness Actuator

Variable stiffness actuators (VSAs) aim to improve robotic performance by dynamically adjusting stiffness, enabling energy-efficient and adaptable movement. Current research focuses on optimizing control strategies, including developing contact-implicit methods and employing techniques like differential dynamic programming and Gaussian processes for precise position and stiffness control, often incorporating clutch mechanisms for better energy transfer timing. These advancements are significant for applications ranging from prosthetic limbs and exoskeletons to collaborative robots and soft robotics, offering improved safety, efficiency, and dynamic capabilities.