A Robot Joint With Variable Stiffness Using Leaf Springs

  title={A Robot Joint With Variable Stiffness Using Leaf Springs},
  author={Junho Choi and Seonghun Hong and Woosub Lee and Sungchul Kang and Munsang Kim},
  journal={IEEE Transactions on Robotics},
Interaction with humans is inevitable for service robots, which results in safety being one of the most important factors in designing the robots. Compliant component is an answer to the safety issue at the cost of performance degradation. In order to reduce the performance degradation, manipulators equipped with variable stiffness have been studied by many researchers. This paper presents a variable stiffness joint (VSJ) designed for a robot manipulator, as well as a control scheme to control… CONTINUE READING
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