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An under actuated robotic arm with adjustable stiffness shape memory polymer joints
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
Various robotic applications including surgical instruments, wearable robots and autonomous mobile robots are often constrained with strict design requirements on high degrees of freedom (DoF) and minimal volume and weight. An intuitive design to meet these contradictory requirements is to embed locking mechanism in under actuated robotic manipulators to direct the actuation from a single and remote source to drive different joints on demand. Mechanical clutches do serve such purposes but often
doi:10.1109/icra.2015.7139539
dblp:conf/icra/FirouzehSBP15
fatcat:ggewno3jgfdfxh62gmvtesym7u