Differential Spiral Joint

Differential Spiral Joints (DSJs) are a mechanism for creating variable stiffness actuation, primarily in tendon-driven robots, aiming to decouple position and stiffness control for improved performance and safety. Current research focuses on optimizing DSJ designs for compactness and effectiveness, exploring different joint combinations (e.g., rotational and prismatic) and employing techniques like multi-objective optimization and LQR-based control to achieve desired motion and stability. This work is significant for advancing robotics, particularly in applications requiring precise, adaptable manipulation in constrained spaces, where the ability to independently control stiffness and position is crucial.