The stiffness of cable-based robots is studied in this paper. Since antagonistic forces are
essential for the operation of cable-based manipulators, their effects on the stiffness should …

This book covers the most attractive problem in robot control, dealing with the direct
interaction between a robot and a dynamic environment, including the human-robot physical …

This paper presents an alternative decomposition of spatial stiffness matrices based on the
concept of compliant axes. According to the congruence transformation of spatial stiffness …

A new, systematic approach to the synthesis of Cartesian stiffness by springs is presented
using screw (spatial vector) algebra. The space of solutions is fully characterized for all …

Remote center‐of‐compliance devices were developed to facilitate insertion for assembly
operations. An analysis using screw theory yields a more accurate model to better …

This paper looks at the modeling of elastically coupled rigidbodies. The elastic deformation
is assumed to be localized, which is aparticularly valid assumption for flexural joints. A …

A forward accuracy analysis method based on Lie-group theory and screw theory is
proposed to analyze the pose error of parallel mechanisms with actuation redundancy. Both …

Remote center-of-compliance devices have long been used to facilitate insertion for
assembly operations. A new analysis with a more accurate model better characterizes the …

This article presents a new method for the synthesis of an arbitrary spatial elastic behavior
with an elastic mechanism. The mechanisms considered are parallel and serial mechanisms …

In this paper, the design of a new variable stiffness spherical joint for MR-compatible
robotics is presented. It is based on the use of prestressed cable-driven mechanisms in …