Stiffness control of multi-DOF joint

  title={Stiffness control of multi-DOF joint},
  author={Koichi Koganezawa and Hiroshi Yamashita},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper deals with mechanical stiffness control of multi-DOF joint. It fundamentally mimics the skeleto-muscular system of human articulation, in which at least two muscles handle one rotary axis under their antagonistic (counteractive) action. In the first part of the paper one introduces basic formula for controlling the multi-DOF rotary joint that is assumed to be driven by a couple of novel actuators called ANLES (Actuator with Non-Linear Elastic System). It mimics a skeletal muscle in… CONTINUE READING

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