Design of the VSA (Variable Stiffness Actuator) mechanism using cam shape

Si Young Jang, Yun Hye Song, Yoon Su Baek

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


As the exoskeleton robot for the assistance of walking is on the rise, HRI (Human-Robot Interaction) come to be an important issue. So in this research the angle following Variable Stiffness Actuator by using cam for overcoming the limitation of volume and weight in existing mechanisms. For this mechanism determinant of stiffness is not an absolute value but it can be change from zero to rigid by the location of the pivot in the gage between the application point of the input force and output force. So it can be miniaturized and have the volumetric advantage by kinematic design. This variable stiffness system make the HRI effective and the safety from injury resulted from the malfunction and the wrong control can be guaranteed.

Original languageEnglish
Pages (from-to)617-622
Number of pages6
JournalJournal of the Korean Society for Precision Engineering
Issue number7
Publication statusPublished - 2019 Jul

Bibliographical note

Publisher Copyright:
© 2019 The Korean Society for Precision Engineering.

All Science Journal Classification (ASJC) codes

  • Safety, Risk, Reliability and Quality
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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