Abstract
This paper describes a novel joint mechanism with variable stiffness for a human-friendly robot. In the proposed mechanism, a set of two different hollow-shaped silicone rubber cushions (SRC trans and SRC stiff : Silicone Rubber Cushion for transmission and for adjusting stiffness, respectively) are sandwiched between an output link and a motor-driven disk. SRC trans , which is pressed against the motor-driven disk, plays the following three important roles: (1) it transmits rotational motion from the motor to the output link; (2) it absorbs excessive external forces by its elastic deformation and the slippage on the surface of the motor-driven disk; and (3) it allows the estimation of external forces using the information regarding the degree of deformation. On the other hand, SRC stiff , which is placed below SRC trans , controls the characteristics of joint compliance. SRC trans is pressed strongly against the motor-driven disk by the expansion of SRC stiff . As a result, the output link can endure the external force without slippage. This paper describes the detail of joint structure and its fundamental performance.
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