A Variable Stiffness Spherical Joint Motor by Magnetic Energy Shaping

Researchers from Huazhong University of Science and Technology (HUST) in a recent T-RO paper describe and construct a novel variable stiffness spherical joint motor that enables dexterous motion and joint compliance in omni-directions. Paper title: A Variable Stiffness Spherical Joint Motor by Magnetic Energy Shaping Authors: Mengke Li, Qianhong Xiao, Zehui Wang, Chenjie Liu, and Kun Bai Paper URL: Video caption: This video presents the design concept of a variable stiffness spherical joint motor. The experimental clips demonstrating the capability of adjusting the joint stiffness and specifying arbitrary equilibrium are presented. The feasibility of the motor to work as a bio-joint-like wrist of a cooperative manipulator has also been demonstrated in this video for compliant manipulations such as drag teaching, peg-in-hole test, dynamic shape/stiffness perception of unstructured target. #Robots #RobotSensingSystems #Actuators #RoboticJoint #SphericalMotor #VariableStiffnessActuator