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This article considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk. Different approaches to the problem were presented, and a method of performance evaluation was proposed based on minimum-time optimal control with safety constraints. The variable stiffness transmission (VST) scheme was found to be one of a few different possible schemes that allows the most flexibility and potential performance. Some aspects related to the implementation of the mechanics and control of VST actuation were also reported.
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Antonio Bicchi
University of Pisa
Giovanni Tonietti
Piaggio (Italy)
IEEE Robotics & Automation Magazine
University of Pisa
Piaggio (Italy)
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Bicchi et al. (Tue,) studied this question.
synapsesocial.com/papers/6a0feef890ecb39bf65fb920 — DOI: https://doi.org/10.1109/mra.2004.1310939