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The design of robots required to work in the close vicinity or physically interact with humans such as humanoids machines, rehabilitation or human performance augmentation systems should not follow the traditional design rule `stiffer is better'. Safety is a particularly vital concern in these systems and to maximize it a different design approach should be used. The role of compliance in improving...
This paper describes a multi-joint robot finger with soft compliant mechanism for safe and comfortable nursing-care services. In proposed mechanism, we utilize 2 different types of elastic elements at fingertip and MP joint (Metacarpa-Phalangeal Joint), respectively, so as to realize soft and stable contact with human body. At fingertip, a hemisphere shaped silicone gum cushion is mounted, while eight...
This article discusses the pros and cons of compliant actuation for rehabilitation robots on the example of LOPES, focusing on the cons. After illustrating the bandwidth limitations, a new result has been derived: if stability in terms of passivity of the haptic device is desired, the renderable stiffness is bounded by the stiffness of the SEA's elastic component. In practical experiments with the...
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