Setup for control, modelling, and algorithm testing of variable stiffness actuators (VSAs)

The TestBed provides a modular setup for control, modelling and algorithm validation of variable stiffness actuators based on qb move advanced tendon-driven servo-VSAs. By combining actuator cubes and segments into different robot configurations, the setup supports experiments on position and stiffness control, external torque estimation, trajectory generation and compliant manipulation. It gives researchers and industrial collaborators a practical platform for studying safe, adaptable robotic actuation and for benchmarking control methods on robots with tunable compliance. The TestBed is directly relevant to DeepTech and Industry 5.0 because it supports human-centric robotics, safer physical interaction, and flexible robot design for advanced manufacturing and manipulation scenarios.