Research paper
Human-friendly actuation · Low impedance with torque response
The proposed manipulator actuation approach reduces effective impedance while retaining high-frequency torque capability. It examines the design trade-off between contact safety and motion performance for robots intended to work near people.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- A New Actuation Approach for Human Friendly Robot Design
- Publisher
- SAGE Publications
- Authors
- Michael Zinn, Bernard Roth, Oussama Khatib, J. Kenneth Salisbury
- DOI
- 10.1177/0278364904042193
- First online publication
- 2004-04-01
- Source language
- en
- Edition
- The International Journal of Robotics Research; 2004; DOI 10.1177/0278364904042193
- Access
- Publisher abstract · restricted full text
- Publication status
- Published
Related resources and engineering notes
Source overview
The proposed manipulator actuation approach reduces effective impedance while retaining high-frequency torque capability. It examines the design trade-off between contact safety and motion performance for robots intended to work near people.
Use and review
Checked publisher abstract and bibliography only. Reduced impedance does not by itself establish injury-limit compliance; hardware conditions, failure modes and collision tests need separate review.
Sources & editions
A New Actuation Approach for Human Friendly Robot Design ↗
SAGE Publications · The International Journal of Robotics Research; 2004; DOI 10.1177/0278364904042193
IJRR publisher-deposited abstract and online-date metadata, DOI 10.1177/0278364904042193.