Variable stiffness mechanism for human-friendly robots

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

doi:10.1016/j.mechmachtheory.2010.01.001

Variable stiffness mechanism for human-friendly robots

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

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

50 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 language	English
Pages (from-to)	880-897
Number of pages	18
Journal	Mechanism and Machine Theory
Volume	45
Issue number	6
DOIs	https://doi.org/10.1016/j.mechmachtheory.2010.01.001
Publication status	Published - 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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10.1016/j.mechmachtheory.2010.01.001

Cite this

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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.",

author = "Dongjun Hyun and Yang, {Hyun Seok} and Jungwan Park and Youngbo Shim",

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AU - Hyun, Dongjun

AU - Yang, Hyun Seok

AU - Park, Jungwan

AU - Shim, Youngbo

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N2 - 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.

AB - 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.

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Variable stiffness mechanism for human-friendly robots

Abstract

Bibliographical note

All Science Journal Classification (ASJC) codes

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