@inproceedings{3e4d17d5ba7c4d1f89e171f3272b037d,
title = "A Novel Soft Wrist Joint with Variable Stiffness",
abstract = "This paper presents a novel soft wrist joint made up of two soft variable stiffness bending joints and one soft torsion joint. The soft variable stiffness bending joint can achieve bending motion with variable stiffness and the motion of the soft bending actuator does not influence the terminal position of the soft bending joint, which provides a prerequisite for subsequent accuracy control. The torque of the soft torsion actuator is generated from four uniformly distributed spiral chambers and fiber-reinforced ropes, which can enhance torsion. The soft wrist joints are obtained by assembling them in series, providing a new solution for the soft robotic arm.",
keywords = "Soft torsion joint, Soft variable stiffness actuator, Soft wrist joint",
author = "Gang Yang and Bing Li and Yang Zhang and Dayu Pan and Hailin Huang",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",
year = "2022",
doi = "10.1007/978-3-031-13822-5\_31",
language = "英语",
isbn = "9783031138218",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "346--356",
editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",
booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",
address = "德国",
}