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. 2017 Dec 4;11:64. doi: 10.3389/fnbot.2017.00064

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Copyright © 2017 Liu, Liu, Meng, Ai and Xie.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Robot inherent compliance adapted by nominal pressure about X (DP) axis. (A–C) the robot toque vs angle (to get stiffness $K_{rob}^{x}$ ) under three different pressures and (D) robot stiffness as a function of pressure, where the crosses denote seven pairs of robot stiffness vs pressure.