Design and Control of a Discrete Variable Stiffness Actuator With Instant Stiffness Switch for Safe Human-Robot Interaction
Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI).However, in the incidents of collision, the need of a fast response in stiffness tuning would rise to ensure safety.In this paper, we present a novel Discrete CACAO MIX REISHI V