Research paper

A passive impedance adjuster in a robot joint

A leaf-spring and brake mechanism changes a joint’s passive mechanical impedance. The institutional abstract describes a one-axis robot-finger prototype and experiments aimed at compliant grasping.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.

Original title: Design and development of a new robot joint using a mechanical impedance adjuster
Publisher: IEEE
Authors: T. Morita, S. Sugano
DOI: 10.1109/robot.1995.525630
Conference date: 1995
Source language: en
Source country: US
Edition: Proceedings of 1995 IEEE International Conference on Robotics and Automation
Access: Public bibliography and abstract
Publication status: Published

Source overview

A leaf-spring and brake mechanism changes a joint’s passive mechanical impedance. The institutional abstract describes a one-axis robot-finger prototype and experiments aimed at compliant grasping.

Use and review

Contact results apply to the described mechanism, controller and test conditions. They do not establish universal human injury thresholds or a certified protective function.

Sources & editions

Design and development of a new robot joint using a mechanical impedance adjuster ↗

IEEE · Proceedings of 1995 IEEE International Conference on Robotics and Automation

Author-institution abstract/title/authors, DOI and publication year checked. Conference event dates are not treated as publication dates.