A new variable stiffness design: Matching requirements of the next robot generation

By Sebastian Wolf, G. Hirzinger. IEEE International Conference on Robotics and Automation, 2008

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Requirements for Safe Robots: Measurements, Analysis and New Insights (2009, methodology): “By utilizing the intrinsic joint stiffness it is possible to achieve link velocities above motor levels by choosing an appropriate trajectory (Wolf and Hirzinger 2008 (cid:2) Haddadin et al. 2009).”
Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot (2013, background): “This is usually achieved through the use of additional smaller actuators [6], which significantly increases complexity, weights and energy consumption.”
The DLR hand arm system (2011, methodology): “In [13], Wolf shows that the actuation systems used within the DLR Hand Arm System can produce a link speed 2.6 times the drive speed using the energy stored in the elastic elements.”
Human–robot interaction in industrial collaborative robotics: a literature review of the decade 2008–2017 (2019, background): “AIC-based approaches suffer from relatively low bandwidth, since they involve accumulative delays generated by the control loop components, in response to fast collisions [114,115].”