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Common haptic devices induce interaction with users by transmitting direct forces, corresponding to a coupled environment. Paradoxically, because of their intrinsic mechanical limitations they struggle in cases where this last requires null forces. Cable mechanism are investigated to improve this situation thanks to their low structural inertia. However, current control approaches on these interfaces...
This paper presents a proof of concept of a variable stiffness actuator (VSA) that uses only one (high power) input motor. In general, VSAs use two (high power) motors to be able to control both the output position and the output stiffness, which possibly results in a heavy, and bulky system. In this work, two small and light-weight clutches are used to lock either one of the degrees of freedom, allowing...
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