In this paper, a deburring tool with 3-axis compliance is presented for deburring using a robot manipulator. Compliance is provided with beam structures instead of pneumatic pressure, which enables integrated 3-axis force sensing and variable stiffness. Two radial compliances were achieved using 4-PSS (Prismatic-Spherical-Spherical) legs, with P joints composed of cantilever beams. The one axial compliance was configured with two ball bushings and a linear spring. Strain gauges were attached to cantilever beams and a load cell was mounted between the linear spring and the universal joint to perform force sensing. The stability of vibrations and force sensing were verified through deburring experiments using the proposed deburring tool. Additionally, experiments on automatic offset for applying a constant force during deburring were conducted and results were validated by comparing the workpiece before and after the deburring process.

As the exoskeleton robot for the assistance of walking is on the rise, HRI (Human-Robot Interaction) come to be an important issue. So in this research the angle following Variable Stiffness Actuator by using cam for overcoming the limitation of volume and weight in existing mechanisms. For this mechanism determinant of stiffness is not an absolute value but it can be change from zero to rigid by the location of the pivot in the gage between the application point of the input force and output force. So it can be miniaturized and have the volumetric advantage by kinematic design. This variable stiffness system make the HRI effective and the safety from injury resulted from the malfunction and the wrong control can be guaranteed.