Robotic joints are indispensable components that directly determine the capabilities and performance of diverse robotic systems. In the domain of collaborative and assistive robots, adaptive joints are essential for enabling safe human-robot interaction, demanding compliance and adaptability to ever-changing environments. Current approaches employ soft actuators, variable stiffness mechanisms, and compliant transmission elements to enhance safety and operational efficiency. On the other hand, industrial robots necessitate joint designs that prioritize high precision, repeatability, and robustness. The intricate design of these joints balances compactness, reliability, and a broad spectrum of functional prerequisites, necessitating a multidisciplinary synthesis of expertise in mechanics, actuation systems, control algorithms, and materials science to deploy joints that not only function precisely but also adapt effectively to the specific demands of different robotic tasks.

Research Topic aims to explore the latest advancements in the design, modeling, control, and validation of robotic joints, addressing the increasing complexity of modern robotics. As robotic systems evolve, there is an increasing need for innovative joint designs that can meet the diverse and challenging functional requirements across applications ranging from human-robot collaboration to industrial automation. We invite contributions that cover the full spectrum of robotic joint development challenges, including the mechatronic design and modeling of cutting-edge compliant, soft, and high-precision joints suitable for dynamic environments. Critical focus areas include advanced control strategies to enhance joint safety and efficiency, emphasizing the real-time adaptation of stiffness characteristics tailored to specific tasks, or the compensation of transmission errors via sensor-based or model-based methodologies. Papers exploring virtual prototyping, simulation, and testing techniques are also encouraged to deepen the understanding of joint behavior under diverse conditions. Additionally, we welcome experimental studies that validate innovative designs and methodologies, including case studies demonstrating the practical applications of robotic joints in industries such as healthcare and manufacturing.

• Design methods and tools: CAD/CAE approaches, engineering tools for integrated design, co-simulation frameworks

• Design of compliant actuators and soft robotic joints for human-robot interaction: variable stiffness joints, passive joints, programmable and adaptable behaviors.

• Design of high-precision joints for industrial automation: efficient solutions enabling zero-defect manufacturing, reducer mechanism with improved transmission performance.

• Behavioral modeling and simulation of robotic joints: theoretical, numerical and experimental modeling and characterization of complex robotic joint mechanisms.

• Control and actuation strategies: advanced algorithms to improve the safety, precision, and efficiency of robotic joints, error-compensation techniques.

Conflict of Interest Statement

Topic Editor Dr Pablo Lopez Garcia is CEO and shareholder of AILOS robotics(BE). Topic Editor, Dr Giacomo Moretti Holds shares of two companies: Cheros Srl (IT), Ebbflow Limited Ltd (UK). The other Topic Editors declare no competing interests with regard to the Research Topic subject.

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Design, Modeling, and Adaptive Control of Innovative Joints for Collaborative and Industrial Robotic Systems