Design of components for programmable passive impedance

A form of impedance control is proposed which addresses the issue of stability and provides for the programming of robots for interactive tasks. Passive mechanical elements, specifically springs and dampers, are incorporated into the drive of a robot. The impedance of the robot is programmable because the stiffness and damping coefficients of these mechanical elements are themselves programmable. The design of these elements and their use are outlined. Prototype springs and dampers have been fabricated, and their performance in theory and in practice is discussed.>