Mechanically stiffness-adjustable actuator using a leaf spring for safe physical human-robot interaction

Wang, Ren-JengRen-JengWangHAN-PANG HUANG2012-10-312018-06-282012-10-312018-06-282012http://ntur.lib.ntu.edu.tw//handle/246246/244052en-USMechanically stiffness-adjustable actuator using a leaf spring for safe physical human-robot interactionjournal article10.5755/j01.mech.18.1.1286http://ntur.lib.ntu.edu.tw/bitstream/246246/244052/-1/123.pdf