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...