@conference {CGBSB10,
	title = {VSA-HD: From the Enumeration Analysis to the Prototypical Implementation},
	booktitle = {IEEE/RSJ International Conference on Intelligent RObots and Systems},
	year = {2010},
	month = {October},
	pages = {3676 - 3681},
	address = {St. Louis MO USA},
	keywords = {Embedded Control, Robotics},
	author = {M. G. Catalano and G. Grioli and F. Bonomo and R. Schiavi and A. Bicchi}
}
@conference {schiavi2008icra,
	title = {VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {2008},
	pages = {2171 - 2176},
	abstract = {<p>This paper presents design and performance of a novel joint based actuator for a robot run by variable stiffness actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle established in [7] is followed as well. While the first version was built in a way to demonstrate effectiveness of variable impedance actuation (VIA), it had limitations in torque capacities, life cycle and implementability in a real robot. VSA-II overcomes the problem of implementability with higher capacities and robustness in design for longer life. The paper discusses design and stiffness behaviour of VSA-II in theory and experiments. A comparison of stiffness characteristics between the two actuator is discussed, highlighting the advantages of the new design. A simple, but effective PD scheme is employed to independently control joint-stiffness and joint-position of a 1-link arm. Finally, results from performed impact tests of 1- link arm are reported, showing the effectiveness of stiffness variation in controlling value of a safety metric.</p>
},
	keywords = {Robotics},
	author = {R. Schiavi and G. Grioli and S. Sen and A. Bicchi}
}
