Abstract
This paper presents a variable stiffness mechanism suitable for use in robotic rehabilitation. By inherently varying both the magnitude and direction of loading in the mechanism using a single input, a large variation in effective stiffness is achieved. Design and analysis of the variable stiffness mechanism are presented, along with an example illustrating performance capabilities.
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The work described in this paper was supported in part by the University of Orléans.
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Nelson, C.A., Nouaille, L., Poisson, G. (2019). Variable Stiffness Mechanism for Robotic Rehabilitation. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_174
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DOI: https://doi.org/10.1007/978-3-030-20131-9_174
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