A Continuously Variable Transmission-Based Variable Stiffness Actuator for pHRI: Design Optimization and Performance Verification
Emir Mobedi,
Mehmet İsmet Can Dede
Abstract:Physical human-robot interfaces (pHRI) enabled the robots to work alongside the human workers complying with the regulations set for physical human-robot interaction systems. A variety of actuation systems named variable stiffness/impedance actuators (VSAs) are configured to be used in these systems' design. Recently, we introduced a new continuously variable transmission (CVT) mechanism as an alternative solution in configuring VSAs for pHRI. The optimization of this CVT has significant importance to enhance … Show more
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