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RISDesign, Modeling, Evaluation, and Control of a Compact Discrete Variable Stiffness Actuator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. This article introduces a novel compact discrete variable stiffness actuator, distinguished by its design topology enabling compactness and independent stiffness adjustment regardless of position, without relying ...
A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Designing a mechanism for elbow self-axis alignment requires the elimination of undesirable joint motion and tissue elasticity. The novelty of this work lies in proposing a double-layered interface using a 3-PRR planar ...
Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, the modeling, design, and characterization of the passive discrete variable stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely ...