Joint stiffness

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

Alin Albu‐Schäffer, Christian Ott, Gerd Hirzinger

Citations: 805 • 2007

A new variable stiffness design: Matching requirements of the next robot generation

Sebastian Wolf, Gerd Hirzinger

Citations: 530 • 2008

VSA-II: a Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans

Riccardo Schiavi, Giorgio Grioli, Soumen Sen, Antonio Bicchi

Citations: 360 • 2008

Joint stiffness identification of six-revolute industrial serial robots

Claire Dumas, Stéphane Caro, Sébastien Garnier, Benoît Furet

Citations: 334 • 2011

Biologically Inspired Joint Stiffness Control

Shane A. Migliore, E.A. Brown, Stephen P. DeWeerth

Citations: 291 • 2006

COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control

Nikos G. Tsagarakis, Stephen Morfey, Gustavo Medrano Cerda, Zhibin Li, Darwin G. Caldwell

Citations: 225 • 2013

A Robot Joint With Variable Stiffness Using Leaf Springs

Junho Choi, Seonghun Hong, Woosub Lee, Sungchul Kang, Munsang Kim

Citations: 215 • 2011

Functional significance of stiffness in adaptation of multijoint arm movements to stable and unstable dynamics

David W. Franklin, Etienne Burdet, Rieko Osu, Mitsuo Kawato, Theodore E. Milner

Citations: 191 • 2003

Anthropomorphic Low-Inertia High-Stiffness Manipulator for High-Speed Safe Interaction

Yong-Jae Kim

Citations: 190 • 2017

Multijoint dynamics and postural stability of the human arm

EricJ. Perreault, Robert F. Kirsch, PatrickE. Crago

Citations: 175 • 2004

Cartesian impedance control techniques for torque controlled light-weight robots

Alin Albu‐Schäffer, G. Hirzinger

Citations: 175 • 2003

HapticMaster – a generic force controlled robot for human interaction

R.Q. van der Linde, Piet Lammertse

Citations: 165 • 2003

A model of force and impedance in human arm movements

Keng Peng Tee, Etienne Burdet, Chee–Meng Chew, Theodore E. Milner

Citations: 163 • 2004

A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments

Alin Albu‐Schäffer, Christian Ott, G. Hirzinger

Citations: 160 • 2004

An Experimental Study of Nonlinear Stiffness, Hysteresis, and Friction Effects in Robot Joints with Harmonic Drives and Torque Sensors

N. Kirćanski, A.A. Goldenberg

Citations: 144 • 1997

MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping

Bram Vanderborght, Nikos G. Tsagarakis, Claudio Semini, Ronald Van Ham, Darwin G. Caldwell

Citations: 127 • 2009

Grasp Mode and Compliance Control of an Underactuated Origami Gripper Using Adjustable Stiffness Joints

Amir Firouzeh, Jamie Paik

Citations: 126 • 2017

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

Amir Firouzeh, Marco Salerno, Jamie Paik

Citations: 125 • 2017

On the Feedback Linearization of Robots with Variable Joint Stiffness

Gianluca Palli, Claudio Melchiorri, Alessandro De Luca

Citations: 125 • 2008

Design and Control of a Variable Stiffness Actuator Based on Adjustable Moment Arm

Byeong-Sang Kim, Jae-Bok Song

Citations: 124 • 2012