displacement method. The position and stiffness coordination controller and fuzzy adaptive controller of variable stiffness joint … are designed, and the principle prototype of variable stiffness joint is built. The position step and trajectory tracking … performance of the variable stiffness joint are verified through experiments. Findings Experimental test shows that the joint …

Purpose This paper aims to get rid of the traditional basic principle of using the motor as the variable stiffness … use shape memory alloys (SMA) as the variable stiffness drive source. Design/methodology/approach In this study, SMA is … used to construct the active variable stiffness unit, the Brinson constitutive model is used to establish a dynamic model …

Purpose Variable stiffness structure can significantly improve the interactive capabilities of grippers. Shape memory … alloys have become a popular option for materials with variable stiffness structures. However, its variable stiffness range … tendon-driven flexible grippers by designing a wide-range variable stiffness structure. Design …

Purpose This paper aims to propose an electromagnetic prismatic joint with variable stiffness. The joint can absorb the … for force control in industrial applications. Design/methodology/approach Unlike some existing designs of variable … stiffness joints (VSJs) in which the stiffness regulation is implemented using the stiffness adjustment motor and mechanisms …