However, most of the available elastic robots are relatively costly or difficult to construct. Therefore, elastic joints are considered to outperform rigid joints when operating in a dynamic environment. This type of actuation scheme mitigates the damage caused by unexpected collision. Compliant actuators are very relevant for the design of cobots. They gradually become noticeable nowadays. 3Department of Engineering Sciences, University of Agder (UiA), Grimstad, NorwayĬollaborative robots (or cobots) are robots that can safely work together or interact with humans in a common space. 2Vietnam National University Ho Chi Minh City, Ho Chi Minh City, Vietnam.1Department of Control Engineering and Automation, Faculty of Electrical and Electronic Engineering, Ho Chi Minh City University of Technology (HCMUT), Ho Chi Minh City, Vietnam. Hua Minh Tuan 1,2, Filippo Sanfilippo 3* and Nguyen Vinh Hao 1,2
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