Collaborative robots that work in the same space as humans require two opposing abilities when using the current mainstream technology of fixed reduction ratios. The first is high rigidity to grasp heavy objects, and the second is flexibility to adapt to external forces when an unexpected environment comes into contact. High reduction ratios are suitable for the former as they make it easier to generate strong end-effector forces, while low reduction ratios are suitable for the latter as they facilitate reverse mobility. Therefore, in our laboratory, we focus on continuously variable transmissions, which can adjust the reduction ratio, and aim to adjust the reduction ratio according to the situation.
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