Sun, Hyunsoo Park, Sungwoo Hwang, Donghyun 2024-12-30T06:00:47Z 2024-12-30T06:00:47Z 2024-12-20 2024-12 1552-3098 https://pubs.kist.re.kr/handle/201004/151427 We have developed a two-degree-of-freedom robotic wrist with variable stiffness capability, designed for situations where collisions between the end-effector and the environment are inevitable. To enhance environmental adaptability and prevent physical damage, the wrist can operate in a low-stiffness mode. However, the flexibility of this mode might negatively impact stable and precise manipulation. To address this, we proposed a robotic wrist that switches between a passive low-stiffness mode for environmental adaptation and an active high-stiffness mode for precise manipulation. Initially, we developed a functional prototype that could manually switch between these modes, demonstrating the wrist's passive low-stiffness and active high-stiffness states. This prototype was designed as a lightweight, flat-type modular device, incorporating a sheet-type flexure as the motion guide and embedding all essential components, including actuators, sensors, and a control unit, into the wrist module. Based on the functional prototype, we developed an improved version to enhance durability and functionality. The resulting wrist module incorporates a three-axis force/torque sensor and an impedance control system to control the stiffness. It measures 55 mm in height, weighs 200 g, and offers a 232.4-fold active stiffness variation. English Institute of Electrical and Electronics Engineers Compact Modular Robotic Wrist With Variable Stiffness Capability Article 10.1109/tro.2024.3492453 1 IEEE Transactions on Robotics, v.41, pp.141 - 158 IEEE Transactions on Robotics 41 141 158 N scie scopus 001371929000001 Robotics Robotics Article DESIGN COMPLIANT MECHANISM ACTUATION HAND Wrist Robots Manipulators Motors Robot sensing systems Collision avoidance Actuators Sensors Prosthetics End effectors Compliant joint flexure manipulation robotic wrist variable stiffness