HAN , Bo

Variable impedance actuators are actuators whose position and stiffness can be controlled independently. They are used in mechanical systems and robots when it is required to modify the stiffness/compliance of the joints during the functioning. A major application today is in robotic systems expected to interact safely with humans and the...

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Variable impedance actuators guarantee control performance for robots and robotic peripherals that are inherently safe to humans in their environment especially in cooperative tasks involving human-robot interaction. This paper presents a concept of variable impedance actuator using a combination of fluid and gas to realize the adaptation of...

Variable impedance actuators (VIAs) are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user, and their ability to store and release energy in passive elastic elements. This paper describes the state of the all in the design of actuators using fluid and gas. The...

The paper describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom and includes both rigid and flexible elements. A...

The paper (a first version of this work was presented in Aug. 2014 at ASME-DETC in Buffalo, NY) describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The...