Study of dynamic performance of variable stiffness actuators has become more important for
high safety in human-robot interaction. In this paper, based on the human knee joint, a …

As the torso is critical to the coordinated movement and flexibility of vertebrates, a 6-(Degree
of Freedom) DOF bionic parallel torso with noteworthy motion space was designed in our …

In this paper a new type of variable stiffness magnetic spring is proposed. The magnetic
spring is composed of radially magnetized outer rotor magnets coupled with axially …

With the increase of safety requirements for human-robot interaction, variable stiffness
actuators are increasingly used in joints of medical rehabilitation robots, legged mobile …

Success of the da Vinci surgical robot in the last decade has motivated the development of
flexible access robots to assist clinical experts during single-port interventions of core …

In this paper, a novel variable stiffness mechanism (VSM) based on specially designed S-
springs made from shape memory alloy (SMA) is developed. Based on the stiffness model …

In nature, real fish can adjust stiffness to improve their swimming speed and efficiency,
which prompted us to apply the variable stiffness mode to a fish-inspired robot. In this paper …

Due to intensive human-robot interaction in exoskeletons, it is desirable to design and
control the exoskeletons with behavior compatible to human limbs to achieve natural and …

This paper proposes a vertical jump optimization strategy for a one-legged robot with
consideration of its variable reduction ratio joints. Firstly, the characteristic of the joint is …

The superior ability of dynamic legged locomotion in traversing rough terrain relative to
wheeled or tracked mechanisms comes with the cost of fragile stability. Simple control …