@inbook {BTBP03,
	title = {Variable Stiffness Actuators for Fast and Safe Motion Control},
	booktitle = {Proceedings of the International Symposium on Robotics Research},
	series = {Springer Tracts in Advanced Robotics (STAR)},
	year = {2003},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	abstract = {<p>In this paper we propose Variable Stiffness actuation as a viable mechanical/control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.</p>
},
	keywords = {Robotics},
	author = {A. Bicchi and G. Tonietti and M. Bavaro and M. Piccigallo},
	editor = {B. Siciliano and O. Khatib and Groen, F.}
}
