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Research paper

Compliant actuation · Trading robot-arm performance against impact risk

The article analyzes trade-offs between manipulator accuracy/responsiveness and lightweight, compliant construction for human contact. It examines single-joint actuation and the mechanics and control of variable-stiffness transmission.

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
Fast and "Soft-Arm" Tactics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Authors
A. Bicchi, G. Tonietti
DOI
10.1109/mra.2004.1310939
Publication date
2004-06
Source language
en
Edition
IEEE Robotics & Automation Magazine; 2004; DOI 10.1109/mra.2004.1310939
Access
Publisher metadata and open author manuscript
Publication status
Published

Related resources and engineering notes

Source overview

The article analyzes trade-offs between manipulator accuracy/responsiveness and lightweight, compliant construction for human contact. It examines single-joint actuation and the mechanics and control of variable-stiffness transmission.

Use and review

Checked author-institution abstract and bibliography. The institutional page lists publisher corrections to the title, injury-index units and a figure; consult those corrections before using formulas.

Sources & editions

Fast and "Soft-Arm" Tactics ↗

Institute of Electrical and Electronics Engineers (IEEE) · IEEE Robotics & Automation Magazine; 2004; DOI 10.1109/mra.2004.1310939

IEEE RAM bibliography; author institutional abstract https://arpi.unipi.it/handle/11568/83818 and Centro Piaggio publication page with publisher corrections.