Collaborative robots are increasingly being used in dynamic and semi-structured
environments because of their ability to perform physical Human–Robot Interaction (pHRI) to …

Manipulators with variable stiffness provide more flexibility between safety and performance
when executing delicate tasks. In this paper, a novel planar parallel continuum manipulator …

Collaborative robots open up new avenues in the field of industrial robotics and physical
Human-Robot Interaction (pHRI) as they are suitable to work in close approximation with …

Recently, a variable stiffness robotic link based on the rotating beam concept has been
developed for applications in physical human robot interaction. A substantial challenge for …

In this paper, we propose a variable width compliant link that is designed for optimal trade-
off of safety and control performance for inherently safe corobots. Intentionally introducing …

Continuous layer jamming is an effective tunable stiffness mechanism that utilizes vacuum to
vary friction between laminates enclosed in a membrane. In this paper, we present a …

To reduce injury in physical human–robot interactions (pHRIs), a common practice is to
introduce compliance to joints or arm of a robotic manipulator. In this paper, we present a …

In this paper, we study the effects of mechanical compliance on safety in physical human–
robot interaction (pHRI). More specifically, we compare the effect of joint compliance and link …

Manual lifting tasks involve repetitive raising, holding and stacking movements with heavy
objects. These arm movements are notable risk factors for muscle pain, fatigue, and …

Variable stiffness manipulators balance the trade-off between manipulation performance
needing high stiffness and safe human–robot interaction desiring low stiffness. Variable …