SCIENCE CHINA Information Sciences, Volume 62 , Issue 5 : 050210(2019) https://doi.org/10.1007/s11432-018-9666-y

A stiffness-adaptive control system for nonlinear stiffness actuators

More info
  • ReceivedAug 30, 2018
  • AcceptedOct 30, 2018
  • PublishedFeb 27, 2019


There is no abstract available for this article.


This work was supported by National Natural Science Foundation of China (Grant Nos. 51475322, 51535008, 51775367, 51721003), Tianjin Municipal Science and Technology Department Program (Grant No. 17JCZDJC30300), and International Collaboration Programme (111 Program) (Grant No. B16034).


[1] Zinn M, Khatib O, Roth B, et al. A new actuation approach for human friendly robot design. In: Proceedings of IEEE International Conference on Robotics and Automation, 2004. Google Scholar

[2] Sun J, Guo Z, Zhang Y. A Novel Design of Serial Variable Stiffness Actuator Based on an Archimedean Spiral Relocation Mechanism. IEEE/ASME Trans Mechatron, 2018, 23: 2121-2131 CrossRef Google Scholar

[3] Sun J, Guo Z, Sun D. Design, modeling and control of a novel compact, energy-efficient, and rotational serial variable stiffness actuator (SVSA-II). Mechanism Machine Theor, 2018, 130: 123-136 CrossRef Google Scholar

[4] Lan S, Song Z. Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method. J Robotics, 2016, 2016: 1-8 CrossRef Google Scholar

[5] Gao D, Song Z B, Zhao Y R. A novel concept and impedance schematic analysis for nonlinear stiffness compliant actuator (NSCA). In: Proceedings of IEEE International Conference on Mechatronics and Automation (ICMA), 2017. 1562--1566. Google Scholar

[6] Guo Z, Pan Y, Sun T. Adaptive Neural Network Control of Serial Variable Stiffness Actuators. Complexity, 2017, 2017: 1-9 CrossRef Google Scholar

[7] Fahmizal, Surriani A, Budiyanto M, et al. Altitude control of quadrotor using fuzzy self-tuning PID controller. In: Proceedings of the 5th International Conference on Instrumentation, Control, and Automation (ICA), 2017. 67--72. Google Scholar

[8] Umland J W, Safiuddin M. Magnitude and symmetric optimum criterion for the design of linear control systems-what is it and does it compare with the others. In: Proceedings of IEEE Industry Applications Society Annual Meeting, 1998. Google Scholar

[9] Pavkovi? D, Polak S, Zorc D. PID controller auto-tuning based on process step response and damping optimum criterion.. ISA Trans, 2014, 53: 85-96 CrossRef PubMed Google Scholar

  • Figure 1

    (Color online) (a) Sectional view of the LDNSA structure; (b) block diagram of the stiffness-adaptive control system; (c) torque tracking performance of the LDNSA with the proposed control system; (d) variation of the auto-tuning feedback control gains during torque tracking; (e) simulation results of LDNSA with classical PD controller responding to different torques (0.5, 1 and 1.5 Nm) where $t_r$ and $M_p$ represent the rise time (ms) and maximum overshoot (Nm), respectively; (f) experimental results of LDNSA with the proposed control system.