Variable stiffness mechanism for human-friendly robots

Dongjun Hyun, Hyun Seok Yang, Jungwan Park, Youngbo Shim

Research output: Contribution to journalArticle

32 Citations (Scopus)

Abstract

We have developed a variable stiffness mechanism (VSM) for human-friendly robots to simultaneously meet safety and performance needs. The VSM has high stiffness in normal operation mode and has low stiffness in collision mode when the load applied to the joint exceeds a critical load, specified by the physical constraints of the joint structure and an actively controlled electro magnet. We have verified the safety of the VSM by simulations and experiments using the head injury criteria index.

Original languageEnglish
Pages (from-to)880-897
Number of pages18
JournalMechanism and Machine Theory
Volume45
Issue number6
DOIs
Publication statusPublished - 2010 Jun 1

Fingerprint

Stiffness
Robots
Magnets
Loads (forces)
Experiments

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Mechanics of Materials
  • Computer Science Applications
  • Bioengineering

Cite this

Hyun, Dongjun ; Yang, Hyun Seok ; Park, Jungwan ; Shim, Youngbo. / Variable stiffness mechanism for human-friendly robots. In: Mechanism and Machine Theory. 2010 ; Vol. 45, No. 6. pp. 880-897.
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Variable stiffness mechanism for human-friendly robots. / Hyun, Dongjun; Yang, Hyun Seok; Park, Jungwan; Shim, Youngbo.

In: Mechanism and Machine Theory, Vol. 45, No. 6, 01.06.2010, p. 880-897.

Research output: Contribution to journalArticle

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