Soft robotics

In this article, we gave an overview on the DLR activities related to two approaches for the realization of soft robotics: actively torque-controlled LWRs and VSA. On the basis of our experience with torque-controlled robots, we presented an analysis on expected advantages and also disadvantages of VSA actuators. Furthermore, two VSA joint designs motivated by this analysis were presented. Torque-controlled robots currently represent a technology mature enough for the market, but we believe that impressive research progress can be expected in the area of VSA-actuated robots in the next decade.

# Soft Robotics and Applications # Engineering # Robotic Locomotion and Control # Robotic Mechanisms and Dynamics

Alin Albu‐Schäffer, Oliver Eiberger, Markus Grebenstein, et al. (2008). "Soft robotics". IEEE Robotics & Automation Magazine. https://doi.org/10.1109/mra.2008.927979