Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: A schematic representation of the mechanical layout of a compliant RR in the neutral configuration

Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: A schematic representation of the mechanical layout of a serial RR manipulator with elastic joints

Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: The reduced quasi-static control scheme for the case of parallel action of the passive and active stiffness

Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: A rearrangement of the reduced scheme reported in Fig.

Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: Compliance ellipsoid (scaled) for RR manipulator with l2=0.4 m (a) and l2=0.8 m (b)

Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: Compliance ellipsoid (scaled) for RRP manipulator with l2=0.55 m (a) and l2=0.85 m (b)

Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: Compliance ellipsoid (scaled) for RRR manipulator with l2=0.7 m (a) and l2=0.9 m (b)

Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: The elementary case of the actuator acting in parallel to the passive stiffness

Date of download: 10/23/2017 Copyright © ASME. All rights reserved. From: Active Joint Stiffness Regulation to Achieve Isotropic Compliance in the Euclidean Space J. Mechanisms Robotics. 2012;4(4):041010-041010-11. doi:10.1115/1.4007307 Figure Legend: A simplified scheme of a single actuator with secondary mass m and its corresponding link (primary mass M)