Yoon, SS Kang, SC Yun, SK Kim, SJ Kim, YH Kim, M 2024-01-21T04:12:32Z 2024-01-21T04:12:32Z 2021-09-03 2005-10 1738-494X https://pubs.kist.re.kr/handle/201004/136098 In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures. English KOREAN SOC MECHANICAL ENGINEERS Safe arm design with MR-based passive compliant joints and visco-elastic covering for service robot applications Article 10.1007/BF02984262 1 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.19, no.10, pp.1835 - 1845 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 19 10 1835 1845 scie scopus kci ART001094297 000232640400001 2-s2.0-33644515985 Engineering, Mechanical Engineering Article safety service robot passive compliant joint magneto-rheological fluid visco-elastic covering