Results 251 to 260 of about 235,022 (318)
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Optimal control for maximizing potential energy in a variable stiffness joint
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012Robot arms with intrinsically elastic joints became very popular over the last years. Considerable effort has been put into designing complex systems that are equipped with variable joint elasticity between motor and link. However, in contrast to the field of passively elastic locomotion, the control of elastic manipulators, where the elasticity is not
Sami Haddadin +2 more
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Design analysis of a 3-DOF cable-driven variable-stiffness joint module
IEEE International Conference on Robotics and Biomimetics, 2015 Variable-stiffness manipulators can produce intrinsically-safe motions, which are essential for next generation service robots. In this paper, the design analysis of a 3-DOF cable-driven joint module with variable stiffness is proposed.
Kaisheng Yang +4 more
semanticscholar +2 more sources
Kinetostatic analysis of a spatial cable-actuated variable stiffness joint
Journal of Mechanisms and Robotics, 2023The demand for robots capable of performing collaborative tasks requiring interactions with the environment is on the rise. Safe interactions with the environment require attributes such as high dexterity and compliance around obstacles, while still ...
Isaac John, S. Mohan, P. Wenger
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Study on the stiffness property of a variable stiffness joint using a leaf spring
, 2019 Variable stiffness joints designed to ensure physical safety or adjust stiffness actively have attracted much attention in recent years. Springs are used in the internal kinematic structures of variable stiffness joints to achieve the compliance.
L. Fang, Y. Wang
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Journal of Mechanisms and Robotics, 2022
Some special tasks require human operation and cannot be performed by robots or other autonomous equipment, such as special industrial assembly and surgical procedures in small and crowded spaces.
Zhuorui Ma +5 more
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Some special tasks require human operation and cannot be performed by robots or other autonomous equipment, such as special industrial assembly and surgical procedures in small and crowded spaces.
Zhuorui Ma +5 more
semanticscholar +1 more source
Design, analysis, and simulation of a new variable stiffness joint based on antagonist principle
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022In robotics, the variable stiffness joints have been developed as an alternative to include flexibility to a rigid mechanism. Variable Stiffness Joint (VSJ) allows for varying the stiffness in a mechanism during the performance of a trajectory.
M. G. Contreras-Calderón +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 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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Design and Validation of a Novel Leaf Spring-Based Variable Stiffness Joint With Reconfigurability
IEEE/ASME transactions on mechatronics, 2020Compliant joints can provide safer physical human–robot interaction. To effectively balance the response bandwidth and output impedance, variable stiffness joints have been studied by many researchers.
Jiahao Wu +4 more
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A New Bio-Inspired Joint with Variable Stiffness
, 2023 International audienceThis paper addresses stiffness modulation and antagonistic actuation in lightweight tendon-driven bio-inspired manipulators suitable for safe interactions. Designing manipulators with variable stiffness is of great interest in human-
Christine Chevallereau +2 more
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