Variable stiffness mechanism for human-friendly robots

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

Research output: Contribution to journalArticlepeer-review

50 Citations (Scopus)


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
Issue number6
Publication statusPublished - 2010 Jun

Bibliographical note

Funding Information:
This research is supported by the Mechatronics and Manufacturing Technology Center of Samsung Electronics Co.

All Science Journal Classification (ASJC) codes

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


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