2015
Torsion MACCEPA: A novel compact compliant actuator designed around the drive axis
Raphaël Furnémont, Glenn Mathijssen, Tom van der Hoeven, Branko Brackx, Dirk Lefeber, Bram Vanderborght
ICRA 2015poster
The Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) is a Variable Stiffness Actuator (VSA) where both equilibrium position and stiffness of the actuator can be controlled independently. It uses only one linear spring and has a simple design but its compact…