2 papers
cs.RO2026
SHAFT: A Slack-Compensating, Helical-Buckling-Attenuating Flexible-Shaft Transmission for Lightweight Multi-DoF Manipulation
Tomoya Takahashi, Moses Gladson Selvamuthu, Richiro Tadakuma +1
Lightweight and slim manipulators enable safe operation in human living environments. Proximal actuation using remote transmission mechanisms, such as wire-driven or Bowden cables,…
cs.RO2025
WAVE: Worm Gear-based Adaptive Variable Elasticity for Decoupling Actuators from External Forces
Moses Gladson Selvamuthu, Tomoya Takahashi, Riichiro Tadakuma +1
Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Ela…