Physical human—robot interaction and cooperation has become a topic of increasing
importance and of major focus in robotics research. An essential requirement of a robot …

Enabling robots to safely interact with humans is an essential goal of robotics research. The
developments achieved over recent years in mechanical design and control made it …

Interaction with humans is inevitable for service robots, which results in safety being one of
the most important factors in designing the robots. Compliant component is an answer to the …

This paper explores a new hybrid actuation principle combining pneumatic and tendon-
driven actuators for a soft robotic manipulator. The fusion of these two actuation principles …

This paper proposes a soft, inflatable manipulator that is antagonistically actuated by
tendons and pneumatics. The combination of the two actuation mechanisms in this …

In this paper we introduce a classification of intrinsically compliant joint mechanisms.
Furthermore, we outline design considerations for realizing such devices in order to match …

Different branches of technology are striving to come up with new advancements that will
enhance civilization and ultimately improve the quality of life. In the robotics community …

We present the design of a new low-cost series elastic robotic arm. The arm is unique in that
it achieves reasonable performance for the envisioned tasks (backlash-free, sub-3mm …

Humans use their hands for a large variety of tasks during daily life. In this chapter, a
discussion of human hand use is presented, including classification schemes for grasping …

The increasing demand for physical interaction between humans and robots has led to an
interest in robots that guarantee safe behavior when human contact occurs. However …