Preliminary Analysis and Simulation of a Compact Variable Stiffness Wrist Article Swipe
Milazzo, Giuseppe
,
Catalano, Manuel G.
,
Bicchi, Antonio
,
Grioli, Giorgio
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2512.04973
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2512.04973
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and heavier structures compared to classical rigid actuators. This paper introduces a novel 3 Degrees of Freedom (DoFs) parallel wrist that achieves variable stiffness through redundant elastic actuation. Leveraging its parallel architecture, the device employs only four motors, rendering it compact and lightweight. This characteristic makes it particularly well-suited for applications in prosthetics or humanoid robotics. The manuscript delves into the theoretical model of the device and proposes a sophisticated control strategy for independent regulation of joint position and stiffness. Furthermore, it validates the proposed controller through simulation, utilizing a comprehensive analysis of the system dynamics. The reported results affirm the ability of the device to achieve high accuracy and disturbance rejection in rigid configurations while minimizing interaction forces with its compliant behavior.
Related Topics
Concepts
Actuator
Stiffness
Computer science
Robotics
Controller (irrigation)
Control theory (sociology)
Degrees of freedom (physics and chemistry)
Variable (mathematics)
Humanoid robot
Position (finance)
Control engineering
Artificial intelligence
Simulation
Rendering (computer graphics)
Engineering
Task (project management)
Elasticity (physics)
Wrist
Computer vision
Exoskeleton
Control system
Continuously variable transmission
Stewart platform
Joint stiffness
Rehabilitation robotics
Teleoperation
Workspace
Mechatronics
Motion control
Metadata
- Type
- preprint
- Landing Page
- https://doi.org/10.48550/arxiv.2512.04973
- OA Status
- green
- OpenAlex ID
- https://openalex.org/W7109046080
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W7109046080Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2512.04973Digital Object Identifier
- Title
-
Preliminary Analysis and Simulation of a Compact Variable Stiffness WristWork title
- Type
-
preprintOpenAlex work type
- Publication year
-
2025Year of publication
- Publication date
-
2025-12-04Full publication date if available
- Authors
-
Milazzo, Giuseppe, Catalano, Manuel G., Bicchi, Antonio, Grioli, GiorgioList of authors in order
- Landing page
-
https://doi.org/10.48550/arxiv.2512.04973Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://doi.org/10.48550/arxiv.2512.04973Direct OA link when available
- Concepts
-
Actuator, Stiffness, Computer science, Robotics, Controller (irrigation), Control theory (sociology), Degrees of freedom (physics and chemistry), Variable (mathematics), Humanoid robot, Position (finance), Control engineering, Artificial intelligence, Simulation, Rendering (computer graphics), Engineering, Task (project management), Elasticity (physics), Wrist, Computer vision, Exoskeleton, Control system, Continuously variable transmission, Stewart platform, Joint stiffness, Rehabilitation robotics, Teleoperation, Workspace, Mechatronics, Motion controlTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
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| countries_distinct_count | 0 |
| institutions_distinct_count | 4 |
| citation_normalized_percentile |