01386nas a2200109   4500008004100000245008100041210006900122520100800191100001801199700002201217856003701239       2023                        eng d00aDifferential Spiral Joint Mechanism for Coupled Variable Stiffness Actuation0 aDifferential Spiral Joint Mechanism for Coupled Variable Stiffne3 a<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>
1 aKim, Mincheol1 aDeshpande, Ashish  uhttps://arxiv.org/abs/2301.09158