00990nas a2200145 4500008004100000245013700041210006900178260001000247520039500257653001300652100001700665700001100682700001500693856013600708 2007 eng d00aVariable Impedance Actuations for Physical Human Cooperating Robots: a Comparative Analysis of Performance, Safety and Dependability0 aVariable Impedance Actuations for Physical Human Cooperating Rob cApril3 a
An antagonistic actuation with variable stiffness is proposed for ensuring safety and performance in human friendly robotic applications. Various arrangements are analysed with respect to performance, safety and dependability. The results are expected to provide useful guidelines for choosing an actuation mechanism and its implementation for human-robot interactive applications.
10aRobotics1 aFilippini, R1 aSen, S1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/variable-impedance-actuations-physical-human-cooperating-robots-comparative-analysis