1. 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): doi: /
Figure Legend:
A schematic representation of the mechanical layout of a compliant RR in the neutral configuration

2. 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): doi: /
Figure Legend:
A schematic representation of the mechanical layout of a serial RR manipulator with elastic joints

3. 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): doi: /
Figure Legend:
The reduced quasi-static control scheme for the case of parallel action of the passive and active stiffness

4. 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): doi: /
Figure Legend:
A rearrangement of the reduced scheme reported in Fig.

5. 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): doi: /
Figure Legend:
Compliance ellipsoid (scaled) for RR manipulator with l2=0.4 m (a) and l2=0.8 m (b)

6. 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): doi: /
Figure Legend:
Compliance ellipsoid (scaled) for RRP manipulator with l2=0.55 m (a) and l2=0.85 m (b)

7. 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): doi: /
Figure Legend:
Compliance ellipsoid (scaled) for RRR manipulator with l2=0.7 m (a) and l2=0.9 m (b)

8. 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): doi: /
Figure Legend:
The elementary case of the actuator acting in parallel to the passive stiffness

9. 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): doi: /
Figure Legend:
A simplified scheme of a single actuator with secondary mass m and its corresponding link (primary mass M)