석주신 이우섭 강성철 2024-01-20T04:34:25Z 2024-01-20T04:34:25Z 2021-09-06 2016-03 1975-6291 https://pubs.kist.re.kr/handle/201004/124317 A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted. Korean 한국로봇학회 가변 풀림 토크 기반 컴플라이언스 스프링 클러치의 설계 및 토크 추정 Design of Variable Release Torque-based Compliance Spring-clutch and Torque Estimation Article 2610.7746/jkros.2016.11.1.026 2 로봇학회 논문지, v.11, no.1, pp.26 - 32 로봇학회 논문지 11 1 26 32 kci ART002080288 Safe Joint Joint Mechanism Torque Estimation