Actuator Mechanism Design

The Robotics Institute, Carnegie Mellon University

Continuously Variable Transmission and Variable Stiffness Actuators

  • Designed a variable stiffness actuator that uses a spring element composed of an array of compliant beams with variable effective length.
  • Helped Ben Brown with the design of a continuously variable transmission (CVT) for robot actuators.
  • Design Study: Survey of CVT Designs for Robot Joint Actuators