Variable stiffness actuators (VSAs) are an important class of compliant actuators that can
benefit the robustness and task adaptability of robotic systems. However, controlling VSAs is …

The paper deals with control system design for a robotic arm with variable stiffness actuators
(VSA). Particular attention is paid to the MACEPPA (Mechanically Adjustable Compliance …

With the increase in on-orbit maintenance and support requirements, the application of
space manipulator is becoming more promising. However, how to control the vibration …

This paper presents cascade control approach for simultaneous position and stiffness
control of antagonistic actuators, which can be easily applied to other types of Variable …

Getrieben durch die neuesten Entwicklungen in der Robotik und der langsamen Integration
von Robotersystemen in das alltägliche Leben, besteht die Notwendigkeit sichere Systeme …

Soft robots have been extensively studied for their ability to provide both good performance
and safe humanrobot interaction. This paper describes a novel approach for soft robot joint …

Humans perform dexterous and highly dynamic movements like throwing, running, hitting or
jumping by adjusting the dynamic characteristics of their musculoskeletal system. While the …

Soft robots have been extensively studied for their ability to provide both good performance
and safe human-robot interaction. In this paper, we present and compare the performance of …