Abstract Variable Impedance Actuators (VIA) have received increasing attention in recent
years as many novel applications involving interactions with an unknown and dynamic …

There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …

This article considered the problem of designing joint-actuation mechanisms that can allow
fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of …

In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking k
robots, variable stiffness actuators (VSAs) or adjustable compliant actuators are being …

Locking devices are widely used in robotics, for instance to lock springs and joints or to
reconfigure robots. This review article classifies the locking devices currently described in …

Biological systems are able to perform movements in unpredictable environments more
elegantly than traditionally engineered robotic systems. A current limitation of robotic …

One of the emerging themes of fish-inspired robotics is flexibility. Adding flexibility to the
body, joints, or fins of fish-inspired robots can significantly improve thrust and/or efficiency …

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 provides a detailed analysis of the power and mechanical/electrical energy
consumption of Series Elastic Actuators (SEAs) and Parallel Elastic Actuators (PEAs). The …

Running is a complex dynamic task that places strict requirements on both the physical
components and software-control systems of a robot. This paper explores some of those …