Design, Modeling and Validation of a Tendon-Driven Soft Continuum Robot for Planar Motion Based on Variable Stiffness Structures

Robotic structures based on variable stiffness enable high-performance and flexible motion systems that are inherently safe and thus allow safe Human-Robot Collaboration. This letter presents the design of a robotic structure based on variable stiffness. A robotic manipulator is developed using thre...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 2; pp. 3985 - 3991
Main Authors:	Wockenfus, Wilhelm R., Brandt, Viktor, Weisheit, Linda, Drossel, Welf-Guntram
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuators and learning for soft robots compliant joints and mechanisms control Human motion Jamming Kinematics Manipulators Mathematical models modeling Modelling Motion control Motion systems Multibody systems Position errors Rigid structures Robot arms Robot dynamics Robotics Robots Shape Simulation Soft robot materials and design Springs Stiffness tendon/wire mechanism Tendons
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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