Variable impedance actuators: A review
Abstract Variable Impedance Actuators (VIA) have received increasing attention in recent
years as many novel applications involving interactions with an unknown and dynamic …
years as many novel applications involving interactions with an unknown and dynamic …
Double actuation architectures for rendering variable impedance in compliant robots: A review
Novel compliant actuation systems have been developed in recent years for a variety of
possible advantages, such as establishing a safe human–robot interaction, increasing …
possible advantages, such as establishing a safe human–robot interaction, increasing …
The DLR hand arm system
M Grebenstein, A Albu-Schäffer, T Bahls… - … on Robotics and …, 2011 - ieeexplore.ieee.org
An anthropomorphic hand arm system using variable stiffness actuation has been
developed at DLR. It is aimed to reach its human archetype regarding size, weight and …
developed at DLR. It is aimed to reach its human archetype regarding size, weight and …
NEUROExos: A powered elbow exoskeleton for physical rehabilitation
N Vitiello, T Lenzi, S Roccella… - IEEE transactions on …, 2012 - ieeexplore.ieee.org
This paper presents the design and experimental testing of the robotic elbow exoskeleton
NEUROBOTICS Elbow Exoskeleton (NEUROExos). The design of NEUROExos focused on …
NEUROBOTICS Elbow Exoskeleton (NEUROExos). The design of NEUROExos focused on …
Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration
A De Luca, F Flacco - 2012 4th IEEE RAS & EMBS International …, 2012 - ieeexplore.ieee.org
We present an integrated control framework for safe physical Human-Robot Interaction
(pHRI) based on a hierarchy of consistent behaviors. Safe human robot coexistence is …
(pHRI) based on a hierarchy of consistent behaviors. Safe human robot coexistence is …
The DLR FSJ: Energy based design of a variable stiffness joint
S Wolf, O Eiberger, G Hirzinger - 2011 IEEE international …, 2011 - ieeexplore.ieee.org
Bringing mechanically compliant joints to robots is in the focus of interest world wide,
especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to …
especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to …
AwAS-II: A new actuator with adjustable stiffness based on the novel principle of adaptable pivot point and variable lever ratio
A Jafari, NG Tsagarakis… - 2011 IEEE International …, 2011 - ieeexplore.ieee.org
The Actuator with Adjustable Stiffness (AwAS) is an actuator which can independently
control equilibrium position and stiffness by two motors. The first motor controls the …
control equilibrium position and stiffness by two motors. The first motor controls the …
A new variable stiffness actuator (CompAct-VSA): Design and modelling
NG Tsagarakis, I Sardellitti… - 2011 IEEE/RSJ …, 2011 - ieeexplore.ieee.org
This paper describes the design and modelling of a new variable stiffness actuator
(CompAct-VSA). The principle of operation of CompAct-VSA is based on a lever arm …
(CompAct-VSA). The principle of operation of CompAct-VSA is based on a lever arm …
A compact soft actuator unit for small scale human friendly robots
NG Tsagarakis, M Laffranchi… - … on robotics and …, 2009 - ieeexplore.ieee.org
This paper presents the development of a new compact soft actuation unit intended to be
used in multi degree of freedom and small scale robotic systems such as the child humanoid …
used in multi degree of freedom and small scale robotic systems such as the child humanoid …
A robot joint with variable stiffness using leaf springs
Interaction with humans is inevitable for service robots, which results in safety being one of
the most important factors in designing the robots. Compliant component is an answer to the …
the most important factors in designing the robots. Compliant component is an answer to the …