Joints with angle dependent damping can help to reduce impact forces in robots

Abstract

This paper investigates how angle-dependent damping in robotic joints can reduce impact forces during collisions. It combines analytical modelling, numerical simulations, and experiments to evaluate a variable-gap viscous damper. The results show that angle-dependent damping can lower peak collision forces and provide a practical route to safer robotic systems.

Citation

Perera, S., Bornassi, S., Ghajari, M., & Nanayakkara, T. (2025). Joints with angle dependent damping can help to reduce impact forces in robots. Scientific Reports, 15(1), 28578. https://doi.org/10.1038/s41598-025-13055-7