Variable-Stiffness Actuator Agonist-Antagonist Stiffness Control

The patent applies parameter changes by introducing elastic elements with specific stiffness characteristics between the motor and body. The elastic means are designed with non-linear stiffness properties that change based on operating conditions, allowing the system to achieve passive disturbance rejection through parameter optimization rather than complex control mechanisms. This resolves the contradiction by improving reliability through parameter tuning while avoiding excessive structural complexity.

The elastic means serve as an intermediary element between the motor and the body, mediating the transmission of forces and torques. This intermediary component enables passive disturbance rejection by elastically coupling the motor to the body, allowing the system to respond to disturbances without requiring complex feedback control. The mediator approach improves reliability while maintaining relatively simple actuator structure.

The patent implements dynamics by using variable-stiffness elastic means that can change their stiffness characteristic based on motor activation state. The elastic elements transition between different stiffness levels to optimize disturbance rejection performance during different operating phases. This dynamic approach enhances passive disturbance rejection while avoiding the need for complex active control systems, thereby managing device complexity effectively.

The variable-stiffness elastic means utilize parameter changes by modifying the stiffness parameter of the elastic elements in response to motor activation. This allows the system to adapt its mechanical properties dynamically, achieving enhanced disturbance rejection during critical operations while maintaining simpler characteristics during normal operation. The parameter change approach resolves the contradiction by improving reliability only when necessary rather than requiring permanently complex structures.

The elastic elements serve as intermediary components that simplify the interface between the motor and output member while improving environmental interaction. By introducing these compliant elements, the actuator can adapt to external disturbances and variations in the environment without requiring complex sensing or control systems. The intermediary approach enhances adaptability while actually simplifying manufacturing compared to rigid, precision-controlled alternatives.

The patent employs flexible elastic elements that can be manufactured using standard elastic materials and conventional fabrication techniques. These flexible components provide the necessary compliance for improved environmental interaction while being relatively simple to manufacture and assemble. The use of flexible elements rather than complex rigid mechanisms resolves the contradiction by enhancing adaptability without significantly increasing manufacturing complexity.