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A variable release torque-based compliant Spring-clutch (VCSC) and torque estimation by using distance sensor is presented. VCSC is composed of an output plate, compliance plate, compensate plate, and fixed plate. Due to these four plates, it has some functions in compliant movement, release mechanism, and gravity compensation during its work. Through these abilities, VCSC plays a role as a safe joint, reducing the impact of collisions between humans and robots. Also, it estimates the torque applied to a joint from a compressed length of a spring, using a distance sensor.

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