... and motion control, enabling context-aware, synchronous adjustment of assistance torque and joint compliance. This framework offers a practical solution for enhancing LLER adaptability in both rehabilitation and daily locomotion. The active assistive control system with a variable stiffness knee joint...

...Haiming Huang; Canwei Huang; Juntao Xie; Na Wang Purpose The aim of this paper is to investigate the use of soft flexible fingers with variable stiffness and friction (VSF) as an effective solution for soft-robot in-hand manipulation. Design/methodology/approach The proposed VSF structure...

... and the virtual displacement method. The position and stiffness coordination controller and fuzzy adaptive controller of variable stiffness joint are designed, and the principle prototype of variable stiffness joint is built. The position step and trajectory tracking performance of the variable stiffness joint...

...-like particle jamming Tendon-driven mechanism Variable stiffness National Natural Science Foundation of China 52201398 Natural Science Foundation of Jiangsu Province, China BK20220343 Soft robotics have outstanding safety and adaptability when working in unconstructed environment...

...Yong Zhao; Jue Yu; Hao Wang; Genliang Chen; Xinmin Lai Purpose This paper aims to propose an electromagnetic prismatic joint with variable stiffness. The joint can absorb the sudden shocks and improve the natural dynamics of robotics. The ability of regulating the output stiffness can also be used...