@booklet {529,
	title = {Differential Spiral Joint Mechanism for Coupled Variable Stiffness Actuation},
	year = {2023},
	abstract = {<p><span style="color: rgb(0, 0, 0); font-family: \&quot;Lucida Grande\&quot;, Helvetica, Arial, sans-serif; font-size: 13.608px;">In this study, we present the Differential Spiral Joint (DSJ) mechanism for variable stiffness actuation in tendon-driven robots. The DSJ mechanism semi-decouples the modulation of position and mechanical stiffness, allowing independent trajectory tracking in different parameter space. Past studies show that increasing the mechanical stiffness achieves the wider range of renderable stiffness, whereas decreasing the mechanical stiffness improves the quality of actuator decoupling and shock absorbance. Therefore, it is often useful to modulate the mechanical stiffness to balance the required level of stiffness and safety. In addition, the DSJ mechanism offers a compact form factor, which is suitable for applications where the size and weight are important. The performance of the DSJ mechanism in various areas is validated through a set of experiments.</span></p>
},
	url = {https://arxiv.org/abs/2301.09158},
	author = {Mincheol Kim and Ashish Deshpande}
}
@article {452,
	title = {Balancing Stability and Stiffness Through the Optimization of Parallel Compliance: Using Coupled Tendon Routing},
	journal = {IEEE Robotics \& Automation Magazine},
	volume = {28},
	year = {2021},
	month = {06/2021},
	pages = {14-22},
	author = {Mincheol Kim and Ashish D. Deshpande}
}
@conference {481,
	title = {SCAPE: Learning Stiffness Control from Augmented Position Control Experiences},
	booktitle = {Conference on Robot Learning. Proceedings of Machine Learning Research},
	year = {2021},
	author = {Mincheol Kim and Scott Niekum and Ashish Deshpande}
}
