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Robotic manipulators with joints that are capable of precisely monitoring the instantaneous torque are currently being used in collaborative robots. These robots are safe to work alongside human beings, and execute tasks that rely on force control. A spring is placed in series inside a robotic joint actuator deflects as per the torque transfer; this information is then used by the controller to control the robot as needed. Based on this key idea, a new device is invented wherein the spring stiffness can be servo-controlled. An intelligent controls scheme is developed that helps to create a safe collaborative workspace.
Raul E Ordonez
Primary Advisor's Department
Electrical and Computer Engineering
Stander Symposium poster
"Variable Stiffness Series Elastic Actuator for Collaborative Robots" (2018). Stander Symposium Posters. 1327.