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Caidong Wang, Pengfei Gao, Xinjie Wang, Hong Wang, Xiaoli Liu and Huadong Zheng
To improve collision safety in robot?human collaborative applications, increasing attention has been paid to rotational variable stiffness actuators. A new rotational variable stiffness actuator, which works in two stages, is proposed for hybrid passive?...
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Dong Li, Guanfeng An, Xiangsheng Chen, Wengang Dang and Dongyang Li
Being physical mechanical parameters of joints, normal and shear stiffnesses are indispensable components of the numerical simulation and theoretical analysis of the behavior of joints. The objective of this work is to put forward an experimental method ...
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Jin Luo, Yao Mao, Wang Dai, Feixiang Yang, Luyao Zhang and Li Miao
The non-variable stiffness of the flexible hinge in the fast-steering mirror (FSM) cannot adapt to varying load demands. To address this issue, this paper presents an innovative variable-stiffness rotational mechanism designed for use with FSMs. Firstly,...
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Rodrigo J. Velasco-Guillen, Felix Schofer, Adna Bliek and Philipp Beckerle
The integration of a passive elastic element in series between a motor and its load is popular in many human?robot interaction scenarios. By virtually imposing elastic behavior on the motor, an impedance control can act as a second stiffness to such an a...
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Qi Wang, Xiaolong Lu, Peng Jiang, Chang Guo and Yalin Sun
Variable-stiffness actuators can flexibly adjust the overall or local stiffness of a structure, thus enabling reconstruction, adaptation, and locking capabilities that can meet a wide range of task requirements. However, the programmable design and manuf...
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Yang Yu, Shimin Wei, Haiyan Sheng and Yingkun Zhang
In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accidental...
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Mahmoud T. Nawar, Ayman El-Zohairy, Ahmed G. Alaaser and Osman Hamdy
The base connection is flexible, not fully pinned/fixed, implying a nonlinear moment?rotation relationship. This deviates from a linear response, where rotation is not directly proportional to the applied moment. Numerical investigations using the commer...
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Nikola Kne?evic, Milo? Petrovic and Kosta Jovanovic
Emerging robotic systems with compliant characteristics, incorporating nonrigid links and/or elastic actuators, are opening new applications with advanced safety features, as well as improved performance and energy efficiency in contact tasks. However, t...
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Pascal Fossat, Madhurima Kothakota, Mohamed Ichchou and Olivier Bareille
This work addresses the dynamic modeling of a negative stiffness absorber consisting of an assembly of curved beams. Design rules are derived from the orders of magnitude of stiffness and elastic energy stored by the negative stiffness elements. Although...
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Stian H. Sørum, Nuno Fonseca, Michael Kent and Rui Pedro Faria
Fibre ropes offer beneficial properties for mooring of floating offshore wind turbines (FOWTs). However, the mooring line?s stiffness is both load-history and load-rate dependent. A quasi-static stiffness is observed for slow loading, with a higher stiff...
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Yifan Lu, Yifei Yang, Yuan Xue, Jun Jiang, Qiang Zhang and Honghao Yue
In order to adapt to complex and changeable mechanical conditions and make the deformable mechanisms perform well statically and dynamically, variable stiffness joints have been studied extensively. The variable stiffness actuator is the key driving comp...
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Krzysztof Falkowski, Paulina Kurnyta-Mazurek, Tomasz Szolc and Maciej Henzel
New technologies are being developed to elaborate cutting-edge electrical jet engines to replace classical constructions. These new concepts consider the possibility of using electrical machines both as starters and generators, as well as suspension syst...
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Hui Shen, Zhuxin Zhou, Dong Guan, Zhongtao Liu, Li Jing and Chun Zhang
The dynamic analysis model of axial piston pump was established; both the kinematics and dynamics simulation analysis were conducted by virtual prototyping approach. The displacement, velocity, acceleration and stress curves of the piston under different...
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Cong Phat Vo, Van Du Phan, Thanh Ha Nguyen and Kyoung Kwan Ahn
Inspired by improving the adaptive capability of the robot to external impacts or shocks, the adjustable stiffness behavior in joints is investigated to ensure conformity with the safety index. This paper proposes a new soft actuation unit, namely Adjust...
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Manuel Cestari, Daniel Sanz-Merodio and Elena Garcia
Adjustable compliant actuators are being designed and implemented in robotic devices because of their ability to minimize large forces due to impacts, to safely interact with the user, and to store and release energy in passive elastic elements. Conceive...
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Philipp Beckerle, Florian Stuhlenmiller and Stephan Rinderknecht
Variable elastic actuators are very promising for applications in physical human?robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper,...
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Loïc Blanc, Alain Delchambre and Pierre Lambert
In the medical field and in soft robotics, flexible devices are required for safe human interaction, while rigid structures are required to withstand the force application and accuracy in motion. This paper aims at presenting controllable stiffness mecha...
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Shuai Wang, Peng Gao, Ying Hu and Bing Li
Vibration isolators with quasi-zero stiffness (QZS) perform well for low- or ultra-low-frequency vibration isolation. This paper proposes a novel dual-parallelogram passive rocking vibration isolator with QZS that could effectively attenuate in-plane dis...
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Stefan Groothuis, Raffaella Carloni and Stefano Stramigioli
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