Abstract
In this paper we propose Variable Stiffness actuation [1] as a viable mechanical/ control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.
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© 2005 Springer-Verlag Berlin Heidelberg
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Bicchi, A., Tonietti, G., Bavaro, M., Piccigallo, M. (2005). Variable Stiffness Actuators for Fast and Safe Motion Control. In: Dario, P., Chatila, R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11008941_56
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DOI: https://doi.org/10.1007/11008941_56
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23214-8
Online ISBN: 978-3-540-31508-7
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