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Stiffness control of variable stiffness joint using electromyography signals
2013 IEEE International Conference on Robotics and Automation, 2013We have developed a multi-functional joint mechanism with variable joint stiffness and the ability to sense external forces. In this joint, silicone rubber cushions are employed to adjust the joint stiffness by controlling the pressure in the cushions.
Shinya Kajikawa +2 more
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A new variable stiffness robot joint
Industrial Robot: An International Journal, 2015Purpose – This study aims to propose a new variable stiffness robot joint (VSR-joint) for operating safely. More and more variable stiffness actuators are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user and their ability to store and release
Yong Tao +5 more
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Vibration Suppression by Variable-Stiffness Members
AIAA Journal, 1990The active vibration suppression with this type of variable-stiffness member is shown to be always stable. A theoretical investigation on a single-degree-of-freedom system shows potential high efficiency for this type of variable-stiffness system due to its unique hysteretic ...
JUNJIRO ONODA +3 more
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Design of a robot joint with variable stiffness
2008 IEEE International Conference on Robotics and Automation, 2008A robot joint with a variable stiffness unit is presented. The variable stiffness unit (VSU) is composed of a motor, two rings that consist of arc-shaped magnets separated by spacers, and a linear guide to change the cross-sectional area of the two rings.
Junho Choi +3 more
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A New Design of a Variable Stiffness Joint
2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019Soft or compliant robots are the key to safe interaction between humans and robots. To protect humans and robots from impact and to adapt to different tasks, researchers have developed many different variable stiffness joints, which include springs and can adjust stiffnesses between soft and rigid.
Hongxi Zhu, Ulrike Thomas
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Dynamic stability of variable stiffness running
2009 IEEE International Conference on Robotics and Automation, 2009Humans and animals adapt their leg impedance during running for both internal(e.g. loading) and external(e.g. surface) changes. In this paper we examine the relationship between leg stiffness and the speed and stability of dynamic legged locomotion. We utilize a torque-driven reduced-order model of running based on a successful family of running robots
Jae Yun Jun, Jonathan E. Clark
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Parallel Variable Stiffness Actuators
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021Chase W. Mathews, David J. Braun
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Stiffness Analysis of a Variable Stiffness Joint Using a Leaf Spring
2017A variable stiffness joint using a leaf spring is designed to ensure physical safety. The joint stiffness is often controlled by changing the effective length of the leaf spring. The stiffness model based on the small-deformation theory cannot solve large deflection problems of the leaf spring caused by larger joint deflected angles.
Lijin Fang, Yan Wang 0019
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Variable Stiffness Actuator Structure for Robot
2021Based on the idea of regulating the variation on stiffness by controlling the number of springs involved in the work, this paper designs a kind of variable stiffness actuator (VSA) which can be applied to the field of robot. The variable stiffness structure takes the spiral tensile spring as the elastic element, and the number of springs Participating ...
Chuanyi Cui, Kai Guo 0004, Jie Sun 0023
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Variable Stiffness Structure for limb attachment
2011 IEEE International Conference on Rehabilitation Robotics, 2011In robotic rehabilitation, the way of attaching the robotic device to the users' limb constitutes a crucial element of product quality, particularly for assuring good fitting, comfort, accuracy, usability, and safety. In this article, we present a new technological concept - 'Variable Stiffness Structure' - allowing for an improvement of these aspects ...
Maxime, Bureau +4 more
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