Variable stiffness mechanism for human-friendly robots

DOI10.1016/J.MECHMACHTHEORY.2010.01.001zbMATH Open1359.70023OpenAlexW1987482938MaRDI QIDQ994150FDOQ994150

Authors: Dongjun Hyun, Hyun Seok Yang, Jungwan Park, Youngbo Shim 

Publication date: 17 September 2010

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2010.01.001

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zbMATH Keywords

variable stiffnesspassive compliancesafety mechanismhead impact testHIC indexhuman-friendly robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• A unified passivity based control framework for position, torque and impedance control of flexible joint robots
• Safe link mechanism based on nonlinear stiffness for collision safety

Cited In (3)

• Design, actuation and control of an anthropomorphic robot arm.
• Safe link mechanism based on nonlinear stiffness for collision safety
• Design of a robotic spherical wrist with variable stiffness

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