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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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New Variable Stiffness Joint (VSJ): Study and Simulation
2021Variable stiffness joints are devices that allow changing the joint stiffness of a mechanism. The development of this joint has increased, and various applications have emerged, most to improve human-robot interaction. This paper presents a proposal design of a new variable stiffness joint (VSJ).
M. G. Contreras-Calderón +2 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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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
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A Variable Stiffness Joint by Granular Jamming
Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 2012We 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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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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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
Haddadin, Sami +2 more
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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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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
semanticscholar +1 more source
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
semanticscholar +1 more source