Variable impedance control and learning—a review
FJ Abu-Dakka, M Saveriano - Frontiers in Robotics and AI, 2020 - frontiersin.org
Robots that physically interact with their surroundings, in order to accomplish some tasks or
assist humans in their activities, require to exploit contact forces in a safe and proficient …
assist humans in their activities, require to exploit contact forces in a safe and proficient …
Shape reconstruction processes for interventional application devices: State of the art, progress, and future directions
Soft and continuum robots are transforming medical interventions thanks to their flexibility,
miniaturization, and multidirectional movement abilities. Although flexibility enables …
miniaturization, and multidirectional movement abilities. Although flexibility enables …
Soft robot-assisted minimally invasive surgery and interventions: Advances and outlook
Since the emergence of soft robotics around two decades ago, research interest in the field
has escalated at a pace. It is fuelled by the industry's appreciation of the wide range of soft …
has escalated at a pace. It is fuelled by the industry's appreciation of the wide range of soft …
A novel pressure-controlled revolute joint with variable stiffness
The compliance and deformability of soft robotics allow human–machine interactions in a
safe manner without the need of sophisticated control systems inherent in rigid-body robotic …
safe manner without the need of sophisticated control systems inherent in rigid-body robotic …
Robotic modules for a continuum manipulator with variable stiffness joints
This study presents a novel robotic module that combines rigid, rigid but compliant, and soft
components to enable actuation, proprioceptive sensing, and variable stiffness. Three spring …
components to enable actuation, proprioceptive sensing, and variable stiffness. Three spring …
Highly articulated tube mechanism with variable stiffness and shape restoration using a pneumatic actuator
I Onda, K Tadakuma, M Watanabe… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
Recently, soft robotics research has focused on mechanisms to control the stiffness of robot
structures. There are several types of variable stiffness mechanisms that can change the …
structures. There are several types of variable stiffness mechanisms that can change the …
Bioinspired Bidirectional Stiffening Soft Actuators Enable Versatile and Robust Grasping
The bending stiffness modulation mechanism for soft grippers has gained considerable
attention to improve grasping versatility, capacity, and stability. However, lateral stability is …
attention to improve grasping versatility, capacity, and stability. However, lateral stability is …
Endoskeleton Soft Multi-Fingered Hand with Variable Stiffness
D Pan, P Yan, Y Li, H Huang, B Li, H Liu - Soft Robotics, 2024 - liebertpub.com
The use of a soft multi-fingered hand in handling fragile objects has been widely
acknowledged. Nevertheless, high flexibility often results in decreased load capacity …
acknowledged. Nevertheless, high flexibility often results in decreased load capacity …
Modeling Contact Stiffness of Soft Fingertips for Grasping Applications
X Ma, L Chen, Y Gao, D Liu, B Wang - Biomimetics, 2023 - mdpi.com
Soft fingertips have distinct intrinsic features that allow robotic hands to offer adjustable and
manageable stiffness for grasping. The stability of the grasp is determined by the contact …
manageable stiffness for grasping. The stability of the grasp is determined by the contact …
Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting
Z Ma, J Liu, G Ma, J Gao… - Journal of …, 2023 - asmedigitalcollection.asme.org
Some special tasks require human operations and cannot be performed by robots or other
autonomous equipment, such as special industrial assembly and surgical procedures in …
autonomous equipment, such as special industrial assembly and surgical procedures in …