VSAcam

The VSAcam actuator is an agonist-antagonist variable stiffness actuation specifically conceived for realizing an infinite number of turns. The VSAcam is a rotational VSA made up of two spiral- shaped antagonist cams, each of them wrapped by a wire. The cams are rigidly constrained to the output rotational axis of the actuator, the compliant element (a linear torsion spring) has its free leg constrained to a drum. If compared to other existing rotational VSAs, VSAcam is characterized by the peculiarity of having no limitation in the amplitude of rotation, enabling it to freely rotate the load for a whatever number of revolutions, as a traditional rotational actuator. The first prototype of VSAcam actuator has been designed and realized within BRIDGE project.