A new variable stiffness design: Matching requirements of the next robot generation

@article{Wolf2008ANV,
  title={A new variable stiffness design: Matching requirements of the next robot generation},
  author={Sebastian Wolf and Gerd Hirzinger},
  journal={2008 IEEE International Conference on Robotics and Automation},
  year={2008},
  pages={1741-1746}
}
Facing new tasks, the conventional rigid design of robotic joints has come to its limits. Operating in unknown environments current robots are prone to failure when hitting unforeseen rigid obstacles. Moreover, safety constraints are a major aspect for robots interacting with humans. In order to operate safely, existing robotic systems in this field are slow and have a lack of performance. To circumvent these limitations, a new robot joint with a variable stiffness approach (VS-Joint) is… CONTINUE READING
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Fast and softarm tacticsdealing with the safetyperformance tradeoff in robot arms design and control Mechanical stiffness control for antagonistically driven joints

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