Muhammad Arifin

A Combination of a Controllable Clutch and an Oscillating Slider Crank Mechanism for Ease of Direct-Teaching with Various Payloads

Direct teaching is a straightforward way of teaching new motion to robots. Active methods with torque sensors, for example, can be used so that the robot can follow the movements of the human, but such methods introduce delays. Alternatively, series clutch actuators are easily backdrivable without d…