01513nas a2200145   4500008004100000245011000041210006900151300001200220490000700232520096200239653001301201100001501214700001601229856012201245       2004                        eng d00aFast and Soft Arm Tactics: Dealing with the Safety-Performance Trade-Off in Robot Arms Design and Control0 aFast and Soft Arm Tactics Dealing with the SafetyPerformance Tra  a22–330 v113 a<p>In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. The particular but basic problem of single-joint actuation is considered in detail. Intuitively, while a rigid and powerful structure of the arm would favour its performance, lightweight compliant structures are more suitable to safe operation. The quantitative analysis of the resulting design trade-off between safety and performance is one of the objectives of our work. Such analysis has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus our attention on one, the Variable-Stiffness Transmission (VST) approach. Some aspects related to the implementation of the mechanics and control of VST joints are reported.</p>
10aRobotics1 aBicchi, A.1 aTonietti, G  uhttp://615830.rige.asia/publications/fast-and-soft-arm-tactics-dealing-safety-performance-trade-robot-arms-design-and