01245nas a2200145   4500008004100000245006500041210006500106300001500171520075500186653001300941100001500954700001600969700001500985856009901000       2004                        eng d00aSafe and Fast Actuators for Machines Interacting with Humans0 aSafe and Fast Actuators for Machines Interacting with Humans  a(in press)3 a<p>This paper describes a new generation of actuators for robotic applications, and more generally for machines that are designed to interact with humans. Such actuators, called Variable Impedance Actuators, are designed to achieve fast motion control while guaranteeing safety of human operators in worst-case impact situation. The fundamental innovation is to implement safety by purely mechanical, passive means, to guarantee intrinsic safety, while active control is used to recover performance. The design concept, which is the subject of a patent application, has led to the experimental implementation of a Variable Stiffness Actuator. The effectiveness of the VSA has been recently validated theoretically and experimentally by authors.</p>
10aRobotics1 aBicchi, A.1 aTonietti, G1 aSchiavi, R  uhttp://175973.jxltd.asia/publications/safe-and-fast-actuators-machines-interacting-humans.html