Results 11 to 20 of about 235,022 (318)
Design and Analysis of a Novel Variable Stiffness Joint for Robot
MATEC Web of Conferences, 2018 As people pay more attention to the safety of human-robotic interaction, the flexibility of machine joints is becoming more and more important. To address the needs of future robotic applications, many kinds of variable stiffness mechanisms have been ...
Zhang Xiang +2 more
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Biomimetic Intelligence and Robotics, 2023 The physical compliance of interaction is an important requirement for safe and efficient collaboration between robots and humans, and the realization of human–robot compliance requires robot joints with variable stiffness similar to those of human ...
Xiuli Zhang, Liqun Huang, Hao Niu
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Design, Dynamics Analysis, and Real-Time Stiffness Control of a Variable Stiffness Joint
Electronics, 2020 This paper proposes a variable stiffness joint based on a symmetrical crank slider mechanism (SCM-VSJ). Firstly, the mechanical design and the working principle of the variable stiffness joint is described, and its stiffness regulation characteristics ...
Yu Yang, Wei Shimin, Qiu Ji, Yang Zheng
semanticscholar +2 more sources
IEEE Access, 2020 Variable stiffness actuators (VSA) are finding wide applications in robotics to enhance safety during interactions with stiff environments. Researchers have proposed various design architectures like antagonistic actuation, which requires both the motors
Nagamanikandan Govindan +2 more
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A 2-DOF Joint With Coupled Variable Output Stiffness [PDF]
IEEE Robotics and Automation Letters, 2017 This paper presents a 2-degree-of-freedom (DOF) joint with coupled variable output stiffness that makes use of three actuators, i.e., two for the 2-D joint motions and one for the joint stiffness adjustment. By base-mounting the actuators and the variable stiffness module that contains the passive elastic elements, the design is compact and has low ...
Daniel J. Tan +3 more
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Design and characterization of variable stiffness structural joints
Materials & Design, 2020 This paper presents design and characterization of a new type of structural joint which can vary its stiffness through actuation. Stiffness variation is employed to control the dynamic response of frame structures equipped with such joints.
Qinyu Wang +4 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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Control of a variable stiffness joint for catching a moving object [PDF]
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are
Bhole, Ajinkya A. +3 more
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Robust estimation of variable stiffness in flexible joints [PDF]
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 We consider the problem of estimating on line the nonlinear stiffness of flexible transmissions in robot joints, with special reference to actuation devices with adjustable stiffness in serial configuration. These joints are characterized by a principal motor for controlling the link motion and secondary motor for adjusting the stiffness.
FLACCO, FABRIZIO +3 more
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Optimization of Variable Stiffness Joint in Robot Manipulator Using a Novel NSWOA-MARCOS Approach
Processes, 2022 Robots and robotic systems have become an inevitable part of modern industrial settings. Robotics systems are being introduced for various household services as well.
G. Shanmugasundar +3 more
semanticscholar +1 more source