This article presents the design of a two-finger variable stiffness gripper and demonstrates how the adjustable compliance of the fingers can enhance manipulation safety and robustness during collisions. The compliance between actuators and fingers are generated by using repulsive magnets as preloaded nonlinear springs such that by adjusting the air-gaps between the magnets, the position and stiffness of the fingers can be controlled simultaneously. The capability of the proposed design in collision detection and reaction is demonstrated via two collision scenarios. In the first experiment, a momentum-based collision detection algorithm in the context of compliant grasping is investigated. In the second experiment, an optimal reaction strategy is developed that exploits the adjustable stiffness characteristics of the gripper to improve safety during collisions. The experimental results of the two scenarios indicate the effectiveness of the proposed gripper in enhancing collision safety.

中文翻译：

---

用于提高碰撞安全性的具有可变刚度驱动的机器人夹持器

本文介绍了两指可变刚度夹具的设计，并展示了手指的可调节柔度如何在碰撞过程中提高操作安全性和鲁棒性。致动器和手指之间的柔量是通过使用排斥磁体作为预加载的非线性弹簧产生的，这样通过调整磁体之间的气隙，可以同时控制手指的位置和刚度。通过两个碰撞场景证明了所提出的设计在碰撞检测和反应方面的能力。在第一个实验中，研究了柔顺抓取环境下基于动量的碰撞检测算法。在第二个实验中，开发了一种最佳反应策略，该策略利用夹具的可调节刚度特性来提高碰撞期间的安全性。两种场景的实验结果表明所提出的夹持器在提高碰撞安全性方面的有效性。