Abstract:Compact, low‐inertia, and soft compliant robotic joint mechanisms are in great demand for ensuring safe interactions in human–robot collaborative tasks. Tensegrity, of which the structural integrity is constrained by tension, does not involve static/sliding friction among the rigid components. However, this mechanical stability is very susceptible to actuation errors. It requires complex kinematics modeling and sophisticated control model with sensing feedback. Herein, a low‐inertia tensegrity joint that is co… Show more
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