ArticleBiomimetics (Basel, Switzerland)2026
Energy-Efficient Motion Simulation of a Bioinspired Variable Stiffness Joint Emulating Elbow Function for Periodic Tasks.
Article in Biomimetics (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Inspired by the energy-efficient resonance strategy of the human elbow joint during periodic arm swing, this paper investigates the energy-saving motion and performance of a robotic variable stiffness joint. A modular stiffness adjustment mechanism with continuously adjustable stiffness based on Archimedean spiral grooves is proposed. A co-simulation model using MATLAB (R2022b)/ADAMS (2020) is established, and dynamic equations are derived to reveal the correlation between resonance/anti-resonance frequencies and joint rotational stiffness. Mimicking the biological principle of stiffness-frequency matching, an energy-saving controller leveraging the resonance effect is designed, which includes a motor energy consumption model to quantify losses and an optimization strategy to match the joint rotational stiffness with the load anti-resonance frequency. Simulation results demonstrate that in variable stiffness mode, aligning the system anti-resonance frequency with the task trajectory frequency significantly reduces joint energy consumption, validating the bioinspired approach. In contrast, the high-stiffness (rigid) mode leads to a surge in system energy consumption.
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