Abstract: In biological systems, the joints are actuated antagonistically by muscles that can be moved coherently to achieve the desired displacement and coactivated with appropriate forces to vary joint stiffness. Inspired by this, ...

Abstract: Abstract. Parallel robots are known for their high stiffness, excellent load capacity, and precision; however, their rotational capabilities are often limited. To address this challenge, we propose a novel compact ...

Abstract: This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging in series several tensegrity ...