This paper gives an overview of different robotic applications based on two compliant actuator technologies developed within the Robotics & Multibody Mechanics Research Group at Vrije Universiteit Brussel: the Pleated Pneumatic Artificial Muscle (PPAM) and the Mechanically Adaptable Compliance and Controllable Equilibrium Position Actuator (MACCEPA). Both actuators have built-in intrin-sic compliance, which makes for two control parameters to be set, namely the equilibrium position of the actuated joint and the equivalent torsion spring stiffness. The increase of control complexity is countered by the added value of adaptable compliance. Compliant actuation, as opposed to conventional, stiff actuators like electrical drives, is currently growing in importance and has applications in a variety of robotic technologies where accurate trajectory tracking is not prevalent: bipedal walking robots, assistive technology, rehabilitation training. The current status of our research projects in compliant actuation and their future perspectives are presented.

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