Abstract: This paper details the design and fabrication process of a fully integrated soft humanoid robotic hand with five finger that integrate an embedded shape memory alloy (SMA) actuator and a piezoelectric transducer (PZT) ...

Abstract: Variable stiffness robots may provide an effective way of trading-off between safety and speed during physical human–robot interaction. In such a compromise, the impact force reduction capability and maximum safe speed are ...

Abstract: In this paper, we study the effects of mechanical compliance on safety in physical human–robot interaction (pHRI). More specifically, we compare the effect of joint compliance and link compliance on the impact force assuming ...

Abstract: In this article, we present a continuously tunable stiffness arm for safe physical human–robot interactions. Compliant joints and compliant links are two typical solutions to address safety issues for physical human–robot ...

Abstract: In this paper, we propose a variable width compliant link that is designed for optimal trade-off of safety and control performance for inherently safe corobots. Intentionally introducing compliance to mechanical design ...