Fig. 3
From: Stable Gaussian process tracking control of antagonistic variable stiffness actuators
The schematic diagram of a kind of AA-VSAs named qbmove redrawn from ref.25. (a) The antagonistic mechanism of the qbmove actuator, where two motors are connected at the output shaft by nonlinear springs, q is an output position, \(\theta _1\) and \(\theta _2\) are motor positions, and \(\tau\) is an elastic torque. (b) The implementation of nonlinear compliant elements in the qbmove actuator, where the two circles represent one of the motors and the output shaft that are connected by nonlinear springs. (c) Sensor illustration in the qbmove actuator.
