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This paper presents design and performance of a novel joint based actuator for a robot run by variable stiffness actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle(More)
In this article, we performed an analysis of the dependability of an elementary yet critical robot component, i.e., the joint-level actuation subsystem. We consider robot actuators that implement the VSA paradigm, i.e., ability to change the effective transmission stiffness during motion to achieve high performance while constantly keeping injury risks by(More)
In this paper we introduce an analysis of dependability of an elementary yet critical component of robotic systems designed to operate in environments shared with humans, i.e., the joint-level actuation system. We consider robot joints that implement the variable impedance actuation (VIA) paradigm. The VIA has been demonstrated to be an effective mean to(More)
The paper presents an application of Interval method to solve the inverse kinematics of a serially connected redundant manipulator, aiming its use in design optimization of manipulators. The article attempts to solve inverse kinematics, when the lengths of the links of the manipulator are not precisely known. The sources of uncertainties include(More)
AIM To identify the proportions of hospital inpatients with recorded weights: among all patients, and among those receiving weight-dosed drug therapy. METHOD Survey of clinical notes of hospital inpatients across a convenience sample of 11 secondary and tertiary referral hospitals in England and Wales in November 2011. RESULTS 1068 patients were(More)
Traditionally underwater vehicles use thrusters as propulsion devices and achieve high speed. These thrusters come with their own limitations such as turbulence, cavitations etc. resulting into low efficiency and noise; the vehicles severely suffer from lack of efficiency in low speed operations. Maneuverability of vehicles using thrusters or jet propulsion(More)
—New generation robots, meant for physical human robot interactions, are no longer rigid; it has become soft in terms of introduction of considerable flexibility at the actuated joints, flexibility of the links and in terms of compliant coverings. Safety requirement becomes primary in situations where physical interactions occur, calling for compliance; but(More)
Use of flexible joints in robotic system is the recent trend in applications involving physical human robot interaction. A compliant transmission introduces the flexibility for intrinsically safe robots, whereas the ability to vary Impedance recovers some of the lost performance due to presence of compliance. Stiffness/impedance variability needs presence(More)
Nonlinear elasticity of transmission is indispensable in any passively variable stiffness mechanism. However, it remains obscure how to decide a desired nonlinear force-displacement function. On the other hand biological muscular actions are associated with stiffness/impedance variation in a wide range as demanded by everyday tasks. This paper addresses the(More)