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 describes the design and development of a new actuator with adjustable stiffness
(AwAS) which can be used in robots which are necessary to work close to or physically …

In this paper, we consider the design of tracking controllers for flexible joint robots with
unknown and possibly variable elasticity, achieving pre-set performance attributes on the …

Variable stiffness actuators are a particular class of actuators that is characterized by the
property that the apparent output stiffness can be changed independent of the output …

In most applications that involve human-robot interactions, such as prosthetics, orthotics,
rehabilitation, and locomotion, compliant actuators with variable stiffness can be used to …

Nowadays, the field of industrial robotics focuses particularly on collaborative robots that are
able to work closely together with a human worker in an inherently safe way. To detect and …

This paper is concerned with the design of a state feedback control scheme for variable
stiffness actuated (VSA) robots, which guarantees prescribed performance of the tracking …

This paper is concerned with the design of a control strategy for variable stiffness actuators
in series configuration, exploiting the lever concept to adjust the stiffness at the transmission …

Collision safety between humans and robots has drawn much attention since service robots
are increasingly being used in human environments. A safe robot arm based on passive …

Inspired by the physiological structure of the hand capable of realizing the continuous
change in finger stiffness when grasping objects of different masses, a self-locking soft …