Chapter 21 — Actuators for Soft Robotics

Throwing a ball with the DLR VS-Joint

The video shows the difference between a stiff and a flexible actuator in a 1-DOF throwing demonstration. The variable stiffness actuator (VS-joint) can store potential energy in a strike out movement and release it by accelerating the lever and ball. Additional energy is transferred to the lever by stiffening up during the forward motion.
Sebastian Wolf, Gerd Hirzinger