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Tendon-Driven Jamming Mechanism for Configurable Variable Stiffness
Soft Robotics, 2021Stiffness transition of a soft continuum body is an essential feature for dexterous interaction with an unstructured environment. Softness ensures safe interaction, whereas rigidness generates high force for movement or manipulation. Vacuum-based granular jamming is a widely used technique for on-line stiffness transition because of its high ...
Jaehyeok, Choi +4 more
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From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism
Mechanism and Machine Theory, 2017 International audienceCable-driven tensegrity mechanisms are now considered for various applications in which their reconfiguration capacities are required together with their inherent lightness.
Quentin Boehler +2 more
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Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017This 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 +3 more
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A New Variable Stiffness Suspension Mechanism
Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 2011A new variable stiffness suspension system based on a recent variable stiffness mechanism is proposed. The overall system is composed of the traditional passive suspension system augmented with a variable stiffness mechanism. The main idea is to improve suspension performance by varying stiffness in response to road disturbance.
Olugbenga M. Anubi, Carl D. Crane
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Variable mechanical stiffness control based on human stiffness estimation
2011 IEEE International Conference on Mechatronics, 2011Control of the human-robot interaction system presents many challenges, which include the consideration in terms of the properties of human operators, sensor device, and linkage mechanisms of the robot. This paper presents the application of a variable mechanical stiffness control based on a human stiffness estimation.
Chowarit Mitsantisuk +2 more
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Design of a variable stiffness flexure mechanism for micromanipulation tasks
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2014In micromanipulation tasks, the interaction force between the manipulator and an object or environment is difficult to control. In the traditional approach, force control is achieved by controlling the displacement of the end-effector during contact with an object, and therefore controlling of force and displacement cannot be decoupled.
Su Zhao +5 more
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A Reconfigurable Variable Stiffness Manipulator by a Sliding Layer Mechanism
2019 International Conference on Robotics and Automation (ICRA), 2019Inherent compliance plays an enabling role in soft robots, which rely on it to mechanically conform to the environment. However, it also limits the payload of the robots. Various variable stiffness approaches have been adopted to limit compliance and provide structural stability, but most of them can only achieve stiffening of discrete fixed regions ...
Dickson Chun Fung Li +3 more
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Criterion for the Design of Low-Power Variable Stiffness Mechanisms
IEEE Transactions on Robotics, 2017Designing robotic systems capable of low-power operation, inherent to their compliant actuation, has been elusive in practical application. In this paper, we propose a physical measure to mathematically define mechanical designs that are suitable to realize stiffness modulation with low power cost.
Vincent Chalvet, David J. Braun
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A redundant rehabilitation robot with a variable stiffness mechanism
Mechanism and Machine Theory, 2020Abstract This paper presents a variable stiffness mechanism suitable for use in robotic rehabilitation. By inherently varying both the magnitude and direction of loading in the mechanism using a single input, a large variation in effective stiffness is achieved.
Carl A. Nelson +2 more
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Variable Stiffness Mechanisms Using Spherical Continuously Variable Transmissions
Volume 4A: Dynamics, Vibration, and Control, 2015Some robot developers are considering elasticity to provide compliance for better adaption to a changing environment, shock resistance and safer human-robotic interactions (HRI). In this study we simulate a spherical continuously variable transmission (CVT) to validate its ability as the primary mechanism in a variable stiffness device for a 1D robotic
Twan Capehart, Carl A. Moore
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