Chu, ChengyuChengyuChuXu, JiayouJiayouXuCHAO-CHIEH LAN2025-09-242025-09-242014https://www.scopus.com/inward/record.uri?eid=2-s2.0-84929179606&doi=10.1109%2FICRA.2014.6907766&partnerID=40&md5=c1324b157111900bc25df2efb650eb98https://scholars.lib.ntu.edu.tw/handle/123456789/7324502014 IEEE International Conference on Robotics and Automation, ICRA 2014. Hong Kong; Hong Kong Convention and Exhibition Center. conference code:107395It has been a challenge to design robots that possess intrinsic compliance, especially for robots that are required to achieve multi-DOF manipulation. Inspired by human limbs, robotic manipulators with internal compliance can perform high-quality force/torque control and better human-robot interaction. This paper presents a robotic wrist whose size, range, and torque output are comparable to those of a human wrist. To achieve two collocated and perpendicular axes of compliant actuation, two linear compliant couplers are proposed. Through slider crank and spherical mechanisms, the linear elasticity is converted to rotary elasticity to control the pitch and yaw torques at the same time. This new compact design realizes series elastic actuation in both axes without increasing size and complexity. Static and dynamic models of the compliant wrist are developed to analyze the motion. Through experiments of a prototype, the wrist is shown to achieve accurate and fast force/torque control. We expect this novel compliant wrist to serve as an alternative for applications involving human-robot interaction.Compliant MechanismForce ControlLinear Series Elastic ActuatorWrist RobotsCompliance ControlCompliant MechanismsElasticityForce ControlMachine DesignMan Machine SystemsManipulatorsMechanismsQuality ControlRoboticsCompliant ActuationsDesign And ControlLinear ElasticityRobotic ManipulatorsSeries Elastic ActuationsSeries Elastic ActuatorsSpherical MechanismsStatic And Dynamic ModelsHuman Robot Interactionconference paper10.1109/ICRA.2014.69077662-s2.0-84929179606