Design and Modeling of a Variable-Stiffness Spring Mechanism for Impedance Modulation in Physical Human–Robot Interaction
Ronnapee Chaichaowarat Satoshi Nishimura Hermano Igo Krebs Ronnapee Chaichaowarat Satoshi Nishimura Hermano Igo Krebs
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 unsupported-length cantilever leaf spring, which has been previously applied to different designs of variable stiffness actuators. By transmitting the interaction force through the elastic component directly to the support...