Intelligent assist devices (IADs) are a new class of hybrid devices for direct, physical,
interaction with a human operator in shared workspaces. These devices-designed for the …

A general framework is presented for the design and analysis of cobot controllers. Cobots
are inherently passive robots intended for direct collaborative work with a human operator …

Compliance actuation systems are efficient and safe, drawing attention to their development.
However, compliance has caused bandwidth loss, instability, and mechanical vibration in …

Over the last decades, the Industrial Automation domain has exhibited an exponential
growth of robots' deployment at factory shop floors. The main objective is to increase …

A robotic assistance system is presented which enables a human to handle unwieldy long
objects by providing only one point of support. The robot grasps one end of the object and …

Collaborative robots (or cobots) are robots that can safely work together or interact with
humans in a common space. They gradually become noticeable nowadays. Compliant …

Nonholonomic constraints are exploited to design a controllable n-joint manipulator with
only two inputs. Gears subject to nonholonomic constraints are designed to transmit …

Cobots are devices for human/robot interaction, in which axes of motion are coupled to one
another by computer-controlled continuously variable transmissions rather than individually …

In this paper, the modeling, design, and characterization of the passive discrete variable
stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a …

The design, control and performance of the Cobotic Hand Controller, a novel, six-degree-of-
freedom, admittance controlled haptic display is examined. A highly geared admittance …