Weight Lifting Trajectory Optimization for Variable Stiffness Actuated Robot

Figure 2

Mechanical design of variable stiffness actuator based on roller-cam mechanism. Three pairs of rollers are directly connected to the output link and driven by position motor through harmonic reducer. The cam disks are axially pushed together by the linear spring. Then, the stiffness setup can be adjusted by the relatively rotation of the two cam disks through the stiffness motors.