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<p>Uncoordinated and antagonistic interactions commonly arise in physical human–robot interaction scenarios, which significantly increase control complexity and pose potential safety risks. To address this issue, this paper proposes a novel variable stiffness elastic actuator (VSEA) that enhances interaction compliance while maintaining high torque output and compactness. The proposed VSEA mimics the functional characteristics of biological muscle systems by combining an electric motor with an elastic element to drive robotic joints. A worm wheel–worm mechanism is integrated to provide self–locking capability, increase torque output, and improve the energy efficiency of the VSEA. The VSEA produces an elastic translational displacement with adjustable stiffness, which can be tuned over a wide range by modifying the spring length in the elastic output mechanism. A trajectory tracking scheme is proposed for the VSEA, which a three closed–loop proportion integration differentiation controller is exploited to verify the performance of the mechanism. Experimental results demonstrate that the proposed VSEA exhibits stable self–locking behavior, a wide stiffness regulation range, and high positioning accuracy. The proposed actuator provides an effective solution for compliant actuation in rehabilitation robots, bionic robots, and exoskeleton systems, offering improved energy utilization, enhanced interaction safety, and a more compact mechanical structure.</p>

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Design, modelling and control of a novel variable stiffness elastic actuator based on a worm wheel–worm mechanism

  • 期刊论文

  • 发表日期：

    2026年3月30日

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  • Keping Liu,
  • Jian Gu,
  • Zhongbo Sun,
  • Changxian Xu

摘要

Uncoordinated and antagonistic interactions commonly arise in physical human–robot interaction scenarios, which significantly increase control complexity and pose potential safety risks. To address this issue, this paper proposes a novel variable stiffness elastic actuator (VSEA) that enhances interaction compliance while maintaining high torque output and compactness. The proposed VSEA mimics the functional characteristics of biological muscle systems by combining an electric motor with an elastic element to drive robotic joints. A worm wheel–worm mechanism is integrated to provide self–locking capability, increase torque output, and improve the energy efficiency of the VSEA. The VSEA produces an elastic translational displacement with adjustable stiffness, which can be tuned over a wide range by modifying the spring length in the elastic output mechanism. A trajectory tracking scheme is proposed for the VSEA, which a three closed–loop proportion integration differentiation controller is exploited to verify the performance of the mechanism. Experimental results demonstrate that the proposed VSEA exhibits stable self–locking behavior, a wide stiffness regulation range, and high positioning accuracy. The proposed actuator provides an effective solution for compliant actuation in rehabilitation robots, bionic robots, and exoskeleton systems, offering improved energy utilization, enhanced interaction safety, and a more compact mechanical structure.