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2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Actuators with intrinsic compliant elements are more and more being adopted in the biorobotics world. However, they also have a number of unfavorable characteristics such as bulkiness and a relatively high design complexity. Meanwhile, rigid actuators that are generally more compact and simple to implement are attractive for a number of applications. Yet, their inherent limitations in achieving a particular compliance characteristic might be in conflict with other biorobots design requirements.doi:10.1109/biorob.2012.6290695 fatcat:brfoq2nms5fxtmiehh6budewfy