This work investigates antagonism inherent in redundantly actuated physical systems.
Five different energy domains are considered to show the principle of antagonism. Stiffness is shown to be a good means of characterizing these antagonisms, Antagoni...
This work investigates antagonism inherent in redundantly actuated physical systems.
Five different energy domains are considered to show the principle of antagonism. Stiffness is shown to be a good means of characterizing these antagonisms, Antagonistic stiffness is generated by preloading a physical system with redundant actuation and can be potentially utilized to design active springs. In particular, it is shown that the system's geometry and internal loading mode are of significance in ensuring the generation of active springs. Possible applications of active springs are discussed.