Variable stiffness mechanism for human-friendly robots

DOI10.1016/j.mechmachtheory.2010.01.001zbMath1359.70023OpenAlexW1987482938MaRDI QIDQ994150

Hyun Seok Yang, Youngbo Shim, Dongjun Hyun, Jungwan Park

Publication date: 17 September 2010

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2010.01.001

zbMATH Keywords

variable stiffnesspassive compliancesafety mechanismhead impact testHIC indexhuman-friendly robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Safe link mechanism based on nonlinear stiffness for collision safety
• A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

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