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A Variable Stiffness Joint by Granular Jamming
Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 2012 We propose a novel, high degree of freedom variable stiffness joint for use in a miniature snake-like robot for minimally invasive surgeries via granular jamming. By pulling granule filled membrane-columns under vacuum, the columns and joint stiffen as the granular matter begin to jam.
Allen Jiang +4 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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Design of variable stiffness joint of manipulator
International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023)In the process of on orbit capture, there is a large contact and impact between the manipulator and the target. The flexibility of variable stiffness joints can effectively reduce the collision force and improve the capture reliability.
Wencheng Ni +4 more
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On the Feedback Linearization of Robots with Variable Joint Stiffness
2008 IEEE International Conference on Robotics and Automation, 2008 Physical human-robot interaction requires the development of safe and dependable robots. This involves the mechanical design of lightweight and compliant manipulators and the definition of motion control laws that allow to combine compliant behavior in reaction to possible collisions, while preserving accuracy and performance of rigid robots in free ...
PALLI, GIANLUCA +2 more
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Stiffness Analysis of a Variable Stiffness Joint Using a Leaf Spring
International Conference on Intelligent Robotics and Applications, 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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A simple stiffness equation for a variable stiffness joint using a leaf spring
2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017Variable stiffness joints using leaf springs have been developed to improve human-robot safety by stiffness variation, in which joint stiffness is often controlled by changing the effective length of the leaf spring. The nonlinearity of the leaf spring caused by large deflection complicates the calculation of the joint stiffness during the joint ...
Yan Wang 0019, Lijin Fang
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Design of an electromagnetic prismatic joint with variable stiffness
Industrial Robot: An International Journal, 2017 Purpose This paper aims to propose an electromagnetic prismatic joint with variable stiffness. The joint can absorb the sudden shocks and improve the natural dynamics of robotics. The ability of regulating the output stiffness can also be used for force control in industrial applications.
Yong Zhao +4 more
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A Robot Joint With Variable Stiffness Using Leaf Springs
IEEE Transactions on Robotics, 2011Interaction with humans is inevitable for service robots, which results in safety being one of the most important factors in designing the robots. Compliant component is an answer to the safety issue at the cost of performance degradation. In order to reduce the performance degradation, manipulators equipped with variable stiffness have been studied by
Junho Choi, Seonghun Hong, Woosub Lee
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The DLR FSJ: Energy based design of a variable stiffness joint
2011 IEEE International Conference on Robotics and Automation, 2011Bringing mechanically compliant joints to robots is in the focus of interest world wide, especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to gain a high performing and robust robotic system. The presented DLR Floating Spring Joint (FSJ) is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand ...
Wolf, Sebastian +2 more
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A novel revolute joint of variable stiffness with reconfigurability
Mechanism and Machine Theory, 2019 In this paper, a novel revolute joint of variable stiffness with reconfigurability (JVSR) is presented. The JVSR is designed with a compliant joint mechanism, and is able to vary widely its stiffness in multiple modes, namely, linear, hardening and softening modes. This brings the joint for many potential applications in novel transmission and robotics.
Li, Zhongyi; id_orcid 0000-0003-2250-7032 +1 more
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