Special Session Ⅵ

Mechanism and Actuator Innovations for Safe Human–Robot Collaboration

Chair		Co-Chair
Nguyen Vu Linh VinUniversity, Vietnam		Hongnian Yu Edinburgh Napier University, UK

Keywords: Compliant Mechanisms, Variable-stiffness Actuators, Spring-design, Physical Human-robot Interaction, Energy Efficiency, Adaptive Actuation

Special Session Information: 

The growing integration of robots into human-centered environments, such as healthcare, rehabilitation, and collaborative manufacturing, demands systems that are inherently safe, adaptive, and physically intelligent. While much progress has been made in sensing and AI-based control, the foundation of safe human–robot collaboration lies in mechanical and actuation design.

This special session focuses on innovative mechanisms and actuator technologies that enable robots to physically interact with humans in a natural, secure, and energy-efficient manner. Emphasizing the synergy between mechanical design, control, and human factors, the session aims to showcase multidisciplinary research in compliant actuation, variable-stiffness mechanisms, constant-force systems, and human-centered co-design. By highlighting fundamental advances and real-world implementations, this session seeks to advance the next generation of collaborative and assistive robotic systems.

Topics of interest include but are not limited to:

• Variable-stiffness and variable-damping actuators

• Compliant and soft robotic joints and grippers

• Constant-force and quasi-zero-stiffness mechanisms

• Gravity-compensated and energy-efficient robotic designs

• Series elastic and tendon-driven actuation systems

• Human-centered and ergonomic design

• Wearable robots and exoskeletons

• Co-design and optimization for collaborative robots

• Applications in rehabilitation, service, and industrial collaborative robotics