Variable Impedance Actuations for Physical Human Cooperating Robots: a Comparative Analysis of Performance, Safety and Dependability

摘要

agonistic actuation with variable stiffness\nis proposed for ensuring safety and performance in human\nfriendly robotic applications. Various arrangements are anal-\nysed with respect to performance, safety and dependability. The\nresults are expected to provide useful guidelines for choosing an\nactuation mechanism and its implementation for human-robot\ninteractive applications.