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

Shehara Perera, Saeed Bornassi, Mazdak Ghajari, Thrishantha Nanayakkara

Abstract read

In one paragraph

Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it

0cells of the map it votes in

1citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

Damping behavior of adaptable shoe under torsional loading at varying angular velocities: replicating the effects on cutting maneuvers.Scientific reports · 2026
Article

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

4 authors.

Shehara PereraDyson School of Design Engineering, Imperial College London, London, SW7 2DB, UK. ulsp2@cam.ac.uk.

Saeed BornassiDyson School of Design Engineering, Imperial College London, London, SW7 2DB, UK.

Mazdak GhajariDyson School of Design Engineering, Imperial College London, London, SW7 2DB, UK.

Thrishantha NanayakkaraDyson School of Design Engineering, Imperial College London, London, SW7 2DB, UK.

Funding

Horizon 2020 Framework Programme 101016970

6 · The paper itself

Abstract

This paper investigates how a new angle-dependent damper design can help a robot to reduce collision forces. We designed a fluid-viscous angle-dependent damper by smoothly changing the clearance between the stationary and moving parts. Analytical and numerical simulation-based predictions were experimentally tested. Analytical modelling shows that angle-dependent damping has a [Formula: see text] reduction in peak forces when compared to constant damping. Numerical simulations show that variable-gap dampers can change damping by [Formula: see text] during a [Formula: see text] gap change. The experimental findings confirm the analytical predictions by reducing collision force by up to [Formula: see text]. These findings suggest that the angle-dependent variable damping solution could be used for robots that experience collisions such as industrial robotic manipulators, legged robots, perching robots, or robots that catch moving objects.

Indexed as

Angle-dependent variable dampingCollision force mitigationDrop testRobotic joints

Identifiers

PMID40764794

DOI10.1038/s41598-025-13055-7

PMCPMC12325609

What OpenQuestion holds

Textmetadata

LicenceCC BY

Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.