Comparison of mechanical design and energy consumption of adaptable, passive-compliant actuators

Bram Vanderborght, Ronald Van Ham, Dirk Lefeber, Thomas G. Sugar, Kevin W. Hollander

Research output: Contribution to journalArticlepeer-review

127 Scopus citations


Different, adaptable, passive-compliant actuators have been developed recently such as the antagonistic setup of two Series Elastic Actuators, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator, the Actuator with Mechanically Adjustable Series Compliance, and the Variable Stiffness Actuator. The main purpose of these designs is to reduce the energy consumption of walking/running robots and prostheses. This paper presents a design formulation to link the different mechanical designs together, and a study on the power consumption of these actuators.

Original languageEnglish (US)
Pages (from-to)90-103
Number of pages14
JournalInternational Journal of Robotics Research
Issue number1
StatePublished - Jan 2009


  • Compliant actuators
  • Energy efficiency
  • Mechanical design

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence
  • Applied Mathematics


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