This paper analyzes the structure principle of the actuator simulated loading system with variable stiffness, and establishes the simplified model. What’s more, it also does a research on the application of the self-adaptive tuning of fuzzy PID (Proportion Integration Differentiation) in actuator simulated loading system with variable stiffness. Because the loading system is connected with the ...

Although many daily tasks tend to destabilize arm posture, it is still possible to have stable interactions with the environment by regulating the multijoint mechanics of the arm in a task-appropriate manner. For postural tasks, this regulation involves the appropriate control of endpoint stiffness, which represents the stiffness of the arm at the hand. Although experimental studies have been u...

Since safe human-robot interaction is naturally linked to compliance in these robots, this requirement presents a challenge for the positioning accuracy. The class of variable-stiffness robots features intrinsically soft contact behavior where physical stiffness can even be altered during operation. Here we present control scheme bidirectional, antagonistic actuators that achieve high-precision...