Abstract: This paper presents a synthesis approach to build safe planar serial robotic mechanisms for applications in human–robot cooperation. The basic concept consists in using torque limiting devices that slip when a prescribed ...

Abstract: This paper proposes the use of passive force and torque limiting devices to bound the maximum forces that can be applied at the endeffector or along the links of a robot, thereby ensuring the safety of human–robot ...

Abstract: This paper presents the static analysis of elastic force and torque limiters that aim at limiting the forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom force and ...