Novel compliant actuation systems have been developed in recent years for a variety of
possible advantages, such as establishing a safe human–robot interaction, increasing …

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 …

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This
paper presents a review of various compliance control techniques. The paper is aimed to …

In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation
system is characterized by the property that the apparent stiffness at the actuator output can …

For tasks requiring robot-environment interaction, stiffness control is important to ensure
both stable contact motion and collision safety. The variable stiffness approach has been …

Nowadays, the field of industrial robotics focuses particularly on collaborative robots that are
able to work closely together with a human worker in an inherently safe way. To detect and …

Our goal is to investigate different approaches to modulate stiffness and apply them to
human-robot interaction. Here we report on our effort employing the concept of adjustable …

We design a new high performance integrated electro-hydraulic actuator (IEHA). We
propose a new solution to a still open question in robotics, to provide an efficient and …

This paper reports on our work conducted during 2020 in the development of actuation and
sensing techniques and devices. In gait rehabilitation, active body weight support systems …

In order to adapt to complex and changeable mechanical conditions and make the
deformable mechanisms perform well statically and dynamically, variable stiffness joints …