A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted.

• 석주신(Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology) | Ju-Shin Seok
• 이우섭(Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology) | Woo-Sub Lee
• 강성철(Healthcare Robotics Research Group, Robotics and Media Institute, Korea Institute of Science and Technology) | Sung-Chul Kang Corresponding author