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- W4309338454 abstract "Aiming at improving the safety of human–robot interactions, this paper proposes a modular cable-driven human-like robotic arm (CHRA). The stiffness of the proposed CHRA is determined by the stiffness of joint modules. Due to the unilateral driving properties of cables, each joint module is redundantly actuated, and its stiffness can be adjusted by regulating the cable tension. The control of the CHRA stiffness requires determining the stiffness of the joint modules. However, due to the complex stiffness model of the CHRA, it is challenging to determine the stiffness of the joint modules analytically. To solve this problem, this paper transforms the stiffness distribution problem of the CHRA into the stiffness-oriented cable tension distribution problem and designs a nonlinear optimization model. The optimization model is simplified using the equilibrium equation of the CHRA. A generic method based on the revised Nelder–Mead simplex algorithm is developed to solve the optimization problem numerically. Based on the computed cable tension, the stiffness values of the joint modules are obtained for the desired CHRA stiffness. The effectiveness of the proposed method is verified by a simulation. • A modular cable-driven human-like robotic arm for safe human–robot interaction. • A variable-stiffness device increases the flexibility of the driving cable. • Kinematics, statics, and stiffness modeling. • Stiffness distribution of a modular cable-driven robotic arm for stiffness control." @default.
- W4309338454 created "2022-11-26" @default.
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- W4309338454 date "2023-02-01" @default.
- W4309338454 modified "2023-10-18" @default.
- W4309338454 title "Stiffness modeling and distribution of a modular cable-driven human-like robotic arm" @default.
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- W4309338454 doi "https://doi.org/10.1016/j.mechmachtheory.2022.105150" @default.
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