Results 41 to 50 of about 4,568 (288)
Robotics, 2019 Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far.
Matteo Malosio +5 more
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A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation
, 2008 — Facing new tasks, the conventional rigid design of robotic joints has come to its limits. Operating in unknown environments current robots are prone to failure when hitting unforeseen rigid obstacles. Moreover, safety constraints are a major aspect for
Hirzinger, Gerd +3 more
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Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness
, 2010 Tendon controlled robots with nonlinear mechanical tendon stiffness are becoming more and more popular. With the appropriate actuation, the joint position and the stiffness between motor and link side can be prescribed at the same time. In this paper,
Hirzinger, Gerd +5 more
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IEEE Access, 2021 Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI). However, in the incidents of collision, the need of a fast response in stiffness
Irfan Hussain +6 more
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Compact Variable Stiffness Actuator for Surgical Robots
Journal of Robotics and Mechatronics, 2022 Highly rigid surgical robots are capable of precise positioning; however, there is a risk of injury to the surrounding organs owing to undesired contact. To solve this problem, surgeons can change their stiffness according to the desired motion by contracting and relaxing the muscles. Therefore, surgical robots that can change their stiffness according
Toshiro Osaka +4 more
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Torque and workspace analysis for flexible tendon driven mechanisms
, 2010 Tendon driven mechanisms have been considered in robotic design for several decades. They provide lightweight end effectors with high dynamics. Using remote actuators it is possible to free more space for mechanics or electronics.
Chalon, Maxime +5 more
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Modeling and design of energy efficient variable stiffness actuators [PDF]
, 2010 In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy ...
L C Visser +8 more
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Design and Evaluation of a Novel Variable Stiffness Hip Joint Exoskeleton
SensorsAn exoskeleton is a wearable device with human–machine interaction characteristics. An ideal exoskeleton should have kinematic and kinetic characteristics similar to those of the wearer.
Tao Yang +3 more
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Characterization of Control-Dependent Variable Stiffness Behavior in Discrete Muscle-Like Actuators
Applied Sciences, 2018 This paper presents the modeling, characterization and validation for a discrete muscle-like actuator system composed of individual on–off motor units with complex dynamics inherent to the architecture.
Caleb Fuller, Joshua Schultz
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Design and Analysis of a Linear Digital Variable Stiffness Actuator
IEEE Access, 2021 In this paper, a novel variable stiffness mechanism (VSM) based on specially designed S-springs made from shape memory alloy (SMA) is developed.
Yapeng Xu, Kai Guo, Jie Sun, Jianfeng Li
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