Results 261 to 270 of about 235,022 (318)
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Stiffness control of variable stiffness joint using electromyography signals
2013 IEEE International Conference on Robotics and Automation, 2013We have developed a multi-functional joint mechanism with variable joint stiffness and the ability to sense external forces. In this joint, silicone rubber cushions are employed to adjust the joint stiffness by controlling the pressure in the cushions.
Shinya Kajikawa +2 more
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A Novel Pressure-Controlled Revolute Joint with Variable Stiffness
Soft Robotics, 2022The compliance and deformability of soft robotics allow human–machine interactions in a safe manner without the need of sophisticated control systems inherent in rigid-body robotic devices. However, these advantages introduce controllability and predictability challenges.
Canberk Sozer +3 more
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Design of a pneumatic variable stiffness ankle joint
2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2018The foot-ground impact is a vital problem for biped robots walking stability. Various works have been done to reduce the impact and enhance the walking stability. This paper investigates the foot-ground impact using mathematic models and introduces the design of a pneumatic variable stiffness ankle joint. First, the torque and energy consumption of the
Xizhe Zang +3 more
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A Humanoid Soft Robotic Joint with Variable Stiffness
2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), 2019To meet the demand of human-robot interaction, a novel humanoid soft robotic joint was proposed by imitating the antagonistic structure of human elbow joint. The soft robotic joint consists of a serial elastic actuator (SEA) and a symmetrically-arranged elastic bands. The stiffness of the robotic joint can be adjusted actively by changing the length of
Liqun Huang, Yingwei Wei, Xiuli Zhang
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Design and control of variable stiffness joint based on magnetic flux adjustment mechanism
Industrial robotPurpose This study aims to improve the robot’s performance during interactions with human and uncertain environments. Design/methodology/approach A joint stiffness model was established according to the molecular current method and the virtual ...
Ming Zhang +5 more
semanticscholar +1 more source
Modeling, design & characterization of a novel Passive Variable Stiffness Joint (pVSJ)
IEEE/RJS International Conference on Intelligent RObots and Systems, 2016 In this paper we present the design and characterization of a novel Passive Variable Stiffness Joint (pVSJ). pVSJ is the proof of concept of a passive revolute joint with controllable variable stiffness.
Mohammad I. Awad +7 more
semanticscholar +2 more sources
Realizing Controllable Physical Interaction Based on an Electromagnetic Variable Stiffness Joint
Journal of Mechanisms and Robotics, 2019This paper puts forward a linear variable stiffness joint (VSJ) based on the electromagnetic principle. The VSJ is constituted by an annular permanent magnet (PM) and coaxial cylindrical coil.
Jue-Chin Yu +5 more
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A Novel Wire-Driven Variable-Stiffness Joint Based on a Permanent Magnetic Mechanism
Journal of Mechanisms and Robotics, 2019The variable-stiffness joint (VSJ) plays an important role in creating compliant and powerful motions. This paper presents a novel wire-driven VSJ based on a permanent magnetic mechanism (PMM).
Ming Zhang, L. Fang, F. Sun, K. Oka
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Journal of Mechanisms and Robotics, 2018
In this paper, the modeling, design, and characterization of the passive discrete variable stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely controlled variable stiffness ...
Mohammad I. Awad +9 more
semanticscholar +1 more source
In this paper, the modeling, design, and characterization of the passive discrete variable stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely controlled variable stiffness ...
Mohammad I. Awad +9 more
semanticscholar +1 more source
A Variable Stiffness Gripper with Reconfigurable Finger Joint for Versatile Manipulations
Soft Robotics, 2023A reconfigurable dexterous gripper is designed which can switch states, including rigidity and flexibility, for different application scenarios. Moreover, the stiffness of the fingers in the flexible state can also be tuned for different objects.
Haiquan Wang +3 more
semanticscholar +1 more source