@conference {CSB-ICRA10,
	title = {Design for Variable Stiffness Actuation based on Enumeration and Analysis of Performance},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)},
	year = {2010},
	month = {May 3 - 8},
	pages = {3285 - 3291},
	address = {Anchorage, Alaska},
	keywords = {Embedded Control, Robotics},
	author = {M. G. Catalano and R. Schiavi and A. Bicchi}
}
@conference {TSB05,
	title = {Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {2005},
	pages = {528-533},
	abstract = {<p style="text-align: justify;">This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans. According to criteria established in our previous work on mechanical-control co-design for intrinsically safe, yet performant machines, we pursue the Variable Impedance Actuation (VIA) approach, purporting actuators that can control in real-time both the reference position and the mechanical impedance of the moving parts in the machine. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.</p>
},
	keywords = {Robotics},
	author = {G. Tonietti and R. Schiavi and A. Bicchi}
}
