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

During the last two decades, a large variety of upper limb exoskeletons have been
developed. Out of these, majority are platform based systems which might be the reason for …

An anthropomorphic hand arm system using variable stiffness actuation has been
developed at DLR. It is aimed to reach its human archetype regarding size, weight and …

We present an integrated control framework for safe physical Human-Robot Interaction
(pHRI) based on a hierarchy of consistent behaviors. Safe human robot coexistence is …

This paper presents the design and experimental testing of the robotic elbow exoskeleton
NEUROBOTICS Elbow Exoskeleton (NEUROExos). The design of NEUROExos focused on …

Bringing mechanically compliant joints to robots is in the focus of interest world wide,
especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to …

The Actuator with Adjustable Stiffness (AwAS) is an actuator which can independently
control equilibrium position and stiffness by two motors. The first motor controls the …

This paper describes the design and modelling of a new variable stiffness actuator
(CompAct-VSA). The principle of operation of CompAct-VSA is based on a lever arm …

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 presents the development of a new compact soft actuation unit intended to be
used in multi degree of freedom and small scale robotic systems such as the child humanoid …