@inproceedings{bd5beec5683648428744d2e3ab917159,
title = "Design of an Antagonistic Variable Stiffness Finger for Interactions and Its Analysis",
abstract = "The principle of mechanical passive compliance is widely used in interactive robots to ensure the safety of robot interaction. Rigid dexterous hands are inclined to be damaged by physical collisions in unpredictable situations such as unstructured environments or operational errors. As robots are required to manipulate in unpredictable unstructured environments, it is urgent to develop a robust dexterous hand which can guarantee their own safety in the process of interaction. According to the passive compliance principle of mechanical system, a design of flexible joint finger with variable stiffness is proposed in this paper. The main goal is to achieve the robustness of the multi-fingered hands against physical impacts. The maximum fingertip force of the finger reaches 30N. Hammer knocking test proves that it has good resistance to physical impact.",
keywords = "Antagonistic, Dexterous hand, Finger design, Variable stiffness actuation",
author = "Handong Hu and Yiwei Liu and Zongwu Xie and Hong Liu and Jianfeng Yao",
note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Switzerland AG.; 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021 ; Conference date: 22-10-2021 Through 25-10-2021",
year = "2021",
doi = "10.1007/978-3-030-89095-7\_14",
language = "英语",
isbn = "9783030890940",
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 = "140--148",
editor = "Xin-Jun Liu and Zhenguo Nie and Jingjun Yu and Fugui Xie and Rui Song",
booktitle = "Intelligent Robotics and Applications - 14th International Conference, ICIRA 2021, Proceedings",
address = "德国",
}