Results 281 to 290 of about 332,036 (332)

Design of a robot joint with variable stiffness

2008 IEEE International Conference on Robotics and Automation, 2008
A 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.
null Junho Choi, Sunchul Park, null Woosub Lee, null Sung-Chul Kang   +3 more
openaire   +1 more source

Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface

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, I. Hussain, D. Gan, Ali Az-zu'bi, C. Stefanini, Kinda Khalaf, Yahya H. Zweiri, T. Taha, J. Dias, L. Seneviratne   +9 more
semanticscholar   +1 more source

A Variable Stiffness Gripper with Reconfigurable Finger Joint for Versatile Manipulations

Soft Robotics, 2023
A 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, Bingtuan Gao, Anqing Hu, Jiahong He   +3 more
semanticscholar   +1 more source

Design of a pneumatic variable stiffness ankle joint

2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2018
The 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, Jiaqi Song, Yixiang Liu, Xinyu Zhou   +3 more
openaire   +1 more source

Analysis of Variable-Stiffness Soft Finger Joints

2018
This paper addresses the problem of designing an artificial finger with variable stiffness in its joints. Our approach is based on the principle of combining different means of actuation. Two different versions of variable-stiffness joints are presented and used in the design and manufacturing of three prototypes of gripper fingers.
Daniel Cardin-Catalan, Angel P. del Pobil, Antonio Morales   +2 more
openaire   +1 more source

A Humanoid Soft Robotic Joint with Variable Stiffness

2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), 2019
To 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
openaire   +1 more source

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, MELCHIORRI, CLAUDIO, A. De Luca   +2 more
openaire   +3 more sources

Characterization of variable stiffness joints for adaptive structures

2019
This paper presents a new strategy to control the structure dynamic response via a shift of the natural frequencies obtained through using variable stiffness joints. The joints are made of shape memory pol-ymers and are fabricated through 3D printing. Stiffness variation is activated through resistive heating which causes a phase change from a glassy ...
Wang, Qinyu, Teuffel, Patrick, Habraken, Arjan P.H.W., Jansen, Kaspar, Senatore, Gennaro   +4 more
openaire   +1 more source

Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017
This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable ...
Yuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi   +3 more
openaire   +1 more source

Design and Modeling of a Robotic Fish With Modular Adaptive Variable Stiffness Passive Joint

IEEE/ASME transactions on mechatronics
Fish in nature adjust their body stiffness in different flow environments to improve their swimming speed and efficiency, providing new ideas for developing bionic robotic fish. However, the existing variable stiffness fish-like tail structures currently
Qixin Wang, Jianran Zhang, Pei-Tian Huang, Yong Zhong   +3 more
semanticscholar   +1 more source