Abstract: This paper presents the design, simulation, and testing of a compliant gripper that can provide a constant gripping force to handle objects of various sizes. Maintaining a proper gripping force is challenging when manipulating ...

Abstract: A machine with an internal variablestiffness mechanism can adapt its output force to the working environment. In the literature, linear variablestiffness mechanisms (LVSMs) are rarer than those producing rotary motion. ...

Abstract: Constant-force mechanisms (CFMs) can produce an almost invariant output force over a limited range of input displacement. Without using additional sensor and force controller, adjustable CFMs can passively produce an ...