... to investigate walking surfaces of varying stiffness. This article introduces the variable stiffness treadmill (VST) 2, an improvement of the first version of the VST, which was the first treadmill able to vary belt stiffness. In contrast to the VST 1, the device presented in this paper (VST 2) can reduce...

... connected in series, which is a noncompacted structure and easily leads to singular postures. In order to meet the demand for high-performance composite joint modules for service robots, this article designs a flexible biomimetic spherical robot joint with variable stiffness characteristics: the mechanism...

... by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 01 05 2023 20 09 2023 26 09 2023 20 10 2023 rescue robots bionic design soft continuum manipulator variable stiffness omni-directional bending adaptability bio...

... 2023 variable stiffness cable-driven mechanisms antagonistic actuation coactivation bio-inspired joints Nature offers viable solutions obtained by natural selection. These solutions are frugal from the point of view of matter as well as energy. For instance, the energy performance...

...Hang Xiao; Jianyin Tang; Shengnan Lyu; Kun Xu; Xilun Ding Cable-driven arms have the advantages of light weight, large workspace, good compliance, high-speed, and acceleration. This paper proposes a cable-driven variable stiffness humanoid arm that can reproduce typical daily postures of the upper...

...Sri Sadhan Jujjavarapu; Hemanth Manjunatha; Ehsan Tarkesh Esfahani Variable stiffness end-of-arm actuators can add dynamic manipulation capabilities to stiff manipulators and simultaneously enhance safety. The presence of an elastic element in these actuators can be used for absorbing impact energy...

... structure allows easy to bond with the soft actuator, which its stiffness can increase. In Fig. 6( b ) , we fabricated a twisting actuator powered by air pressure, and a filament jamming structure was bonded to the ventral surface to form a variable stiffness actuator. Furthermore, we demonstrated...

... introducing mechanical compliance to robotic systems. While extensive studies explore variable stiffness joints/actuators, variable stiffness links for safe physical human–robot interactions are much less studied. This article details the design and modeling of a compliant robotic arm whose stiffness can...

...Jue Yu; Yong Zhao; Genliang Chen; Yeqing Gu; Chao Wang; Shunzhou Huang This paper puts forward a linear variable stiffness joint (VSJ) based on the electromagnetic principle. The VSJ is constituted by an annular permanent magnet (PM) and coaxial cylindrical coil. The output force and stiffness...