...Yu-Ling Kuo; Chao-Chieh Lan Constant-force mechanisms (CFMs) can produce an almost invariant output force over a limited range of input displacement. Without using additional sensor and force controller, adjustable CFMs can passively produce an adjustable constant output force to interact...

... a constant prespecified contact force between fingertip and object. The gripper is designed to have a constant input force generated by a constant-force mechanism (CFM). Transmitted through a statically balanced (SB) mechanism, a constant gripping force is obtained at the fingertip. After a formulation...

...Yi-Ho Chen; Chao-Chieh Lan Force regulation is a challenging problem for robot end-effectors when interacting with an unknown environment. It often requires sophisticated sensors with computerized control. This paper presents an adjustable constant-force mechanism (ACFM) to passively regulate...