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- W2019925604 abstract "Safety constraints are a major aspect for human robots interaction. A new variable stiffness robot joint (VSR-joint) is proposed for operating safely. The proposed concept allows for the development of an actuation unit with a wide range of stiffness and a fast stiffness regulation response. The design of VSR-joint is compact and integrated highly and the operating is simply. The mechanics, the principle of operation and the model of the VSR-joint are proposed. The principle of operation of VSR-joint is based on a lever arm mechanism with a continuously regulated pivot point. The VSR-Joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior. This allows an easy adaption to a big variety of tasks. Preliminary results are presented to demonstrate the fast stiffness regulation response and the wide range of stiffness achieved by the proposed VSR-Joint design." @default.
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- W2019925604 date "2014-09-01" @default.
- W2019925604 modified "2023-09-26" @default.
- W2019925604 title "Design and modeling of a new variable stiffness robot joint" @default.
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- W2019925604 doi "https://doi.org/10.1109/mfi.2014.6997738" @default.
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