This article reviews approaches to controlling robots undergoing physical contact and
dynamic interaction with objects in the world. Conventional motion control is compared with …

Soft robot arms offer safety and adaptability due to their passive compliance, but this
compliance typically limits their payload capacity and prevents them from performing many …

Abstract Variable Stiffness Actuation (VSA) is an efficient, safe, and robust actuation
technology for bionic robotic joints that have emerged in recent decades. By introducing a …

Robots with adjustable joint stiffness can ensure safety and manipulation reliability in force-
sensitive applications. Existing robots use six-axis force/torque sensors at the end-effector to …

The recent application of the principle of discrete adjustment of stiffness has substantially
enhanced the performance of Clutched Elastic Actuators (CEA), especially in terms of their …

To enable the design of planning and control strategies in simulated environments before
their direct application to the real robot, exploiting the Sim2Real practice, powerful and …

Operations involving safe interactions in unstructured environments require robots with
adapting behaviors. Compliant manipulators are a promising technology to achieve this …

This letter presents the design and development of a novel compact motor-based non-linear
stiffness soft actuator used for tendon-driven joints, ie a magnet-integrated soft actuator …

Variable stiffness actuators (VSAs) are essential for ensuring safe human–robot interactions
in robotic applications. This paper proposes a novel rotary VSA using an antagonistic …

Benefit from the elastic element in the drivetrain, the variable stiffness actuators offer
advantages over traditional rigid actuators in security, robustness, energy consumption …