Safe arm design with MR-based passive compliant joints and visco-elastic covering for service robot applications

Seong Sik Yoon, Sungchul Kang, Seung Kook Yun, Seung-Jong Kim, Young Hwan Kim, Munsang Kim

Research output: Contribution to journalArticle

23 Citations (Scopus)


In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magnetorheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

Original languageEnglish
Pages (from-to)1835-1845
Number of pages11
JournalJournal of Mechanical Science and Technology
Issue number10
Publication statusPublished - 2005 Oct 1
Externally publishedYes



  • Magneto-rheological Fluid
  • Passive Compliant Joint
  • Safety
  • Service Robot
  • Visco-elastic Covering

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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