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 …

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

This paper discusses design and control of a prismatic series elastic actuator with high
mechanical power output in a small and lightweight form factor. A design is introduced that …

In this paper, a manipulator is proposed for safe human-robot interaction at high speed. The
manipulator has both low mass and inertia and high stiffness and strength. It is basically a …

To overcome the limitations of linear series elastic actuators (SEAs) with constant stiffness, a
novel load-adaptive actuator with variable stiffness is proposed for actuating ankle …

This article presents the design of a variable stiffness, soft, three-fingered dexterous gripper.
The gripper uses two designs of McKibben muscles. Extensor muscles that increase in …

The ability to selectively stiffen otherwise compliant soft actuators increases their versatility
and dexterity. We investigate granular jamming and layer jamming as two possible methods …

This paper presents a new optimal motion planning aiming to minimize the energy
consumption of a wheeled mobile robot in robot applications. A model that can be used to …

This paper presents the actuator with adjustable stiffness (AwAS-II), an enhanced version of
the original realization AwAS. This new variable stiffness actuator significantly differs from its …

The field of exoskeletons and wearable devices for walking assistance and rehabilitation
has advanced considerably over the past few years. Currently, commercial devices contain …