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On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture
2019
Robotics
Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The aim of this work is to introduce an original two-DoF planar variable-stiffness mechanism, characterized by an orthogonal arrangement of the actuation units to favor the isotropy. This device combines the concepts forming the basis of a one-DoF
doi:10.3390/robotics8020039
fatcat:auq3ufumzffxnky273hrhs6l6q