Power Transmission Design of Fast and Energy-Efficient Stiffness Modulation for Human Power Assistance
Wonseok Shin,Gunhee Park,Jooyong Lee,Handdeut Chang,Jung Kim,Wonseok Shin,Gunhee Park,Jooyong Lee,Handdeut Chang,Jung Kim
Compliance in robot actuation provides a solution to perform safe physical human-robot interaction. Conventional compliant actuators (variable stiffness actuators, series elastic actuators) used more than two motors or closed-loop controller to modulate both stiffness and equilibrium position independently. These actuators are complex, lack of energy efficiency, and have limited stiffness range. I...
