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

The paper presents a methodology to enhance the stiffness analysis of serial and parallel
manipulators with passive joints. It directly takes into account the influence of external and …

Interactions between robots and their environment give rise to external wrenches acting on
the robot structure. The estimation of the resulting torques in the joints is fundamental in …

A manipulator with variable stiffness allows the manipulator to adjust its stiffness to suit for
different task requirements. In this paper, a cable-driven manipulator with the ability to …

APPLICATION OF DYNAMICALLY SCALED SAFETY ZONES BASED ON THE ISO/TS
15066:2016 FOR COLLABORATIVE ROBOTICS Page 1 1 APPLICATION OF …

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 …

Modeling of low severity soft-tissue injury due to unwanted collisions of a robot in
collaborative settings is an important aspect to be treated in safe physical Human-Robot …

A core issue in collaborative robotics is that of impact mitigation, especially when collisions
happen with operators. Passively compliant structures can be used as the frame of the …

We have developed a variable stiffness mechanism (VSM) for human-friendly robots to
simultaneously meet safety and performance needs. The VSM has high stiffness in normal …

In this paper, we present a tunable stiffness robot link for safe human-robot interaction.
Stiffness of a manipulator determines the injury levels of a human from an impact between …