Research paper
Reducing arm impedance while retaining torque response
A distributed actuation approach separates major low-frequency actuation from lightweight local high-frequency actuation. Its design aims to reduce the arm’s effective impedance while preserving fast torque capability for human-centered manipulation.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- A new actuation approach for human friendly robot design
- Publisher
- IEEE
- Authors
- Michael Zinn, Oussama Khatib, Bernard Roth
- DOI
- 10.1109/robot.2004.1307159
- Conference date
- 2004-04
- Source language
- en
- Source country
- US
- Edition
- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
- Access
- Author manuscript first page checked
- Publication status
- Published
Source overview
A distributed actuation approach separates major low-frequency actuation from lightweight local high-frequency actuation. Its design aims to reduce the arm’s effective impedance while preserving fast torque capability for human-centered manipulation.
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
A new actuation approach for human friendly robot design ↗
IEEE · IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Author-hosted scanned manuscript first page visually inspected: MichaelZinn/OussamaKhatib/BernardRoth, ICRA2004 April NewOrleans, p249. First-page abstract checked; distinct from four-author ISER/IJRR versions.