Design of a robot joint with variable stiffness

Abstract

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. Angular displacement between two rings causes the magnets to generate torque, which acts as a nonlinear… (More)
DOI: 10.1109/ROBOT.2008.4543455

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